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The machine which boots up first becomes the master browser in Windows' NetBIOS protocol, i.e. the protocol responsible for discovery.
Since your issue happened over night without any human trigger, a power outage combined with an IP-address conflict of the then current master Browser might have been the cause.
Could you try this, please?
1. Shut down everything - modem, router, NAS, printer and computers.
2. start modem, then router.
3. start WinXP machine and wait until it's fully started and you can for example open a web page successfully. Now the WinXP machine should be the master browser of your workgroup.
4. start a WIn10 machine and wait till it's fully started and you can open a web page.
5. wait for another 15 minutes or so. it takes a while to propagate NetBIOS information.
6. check the discovery in the network. If you sneaked a glance before waiting a while make sure you refresh the explorer window.
7. if this did not show the WinXp and the Win10 in each other's network view,
shutdown the Win10 and afterwards the WInXP computer.
8. start one Win10 computer, wait till it's fully booted up etc.
9. start WinXP, wait a while and check the network view.
I should think one of these boot sequences will have had success.
Afterwards you can boot the printer and the NAS and the second Win10 machine
If not: check for the following updates on the WIn10 computers:
Update KB3140743 and KB3139907 released on March 1st 2016 - fixing a discovery problem in wired Win10 computers.
If you had IP address conflicts before, make sure these don't happen anymore by extending the DHCP range in your router.
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