This is where many users face issues. You can control the XP machine from a Windows 10/11 PC, but , or at least be prepared for protocol limitations.
AnyDesk Not Connecting? 9 Ways to Fix It Quickly + ... - DeskIn
Given the compatibility issues, using AnyDesk on Windows XP requires a bit more effort. Here are some steps and solutions:
AnyDesk remains officially compatible with Windows XP SP2 and later