Specifics
Host OS: macOS Catalina v10.15.2 (19C57)
Guest OS: Fedora 31 (Server Edition)
Virtualization Product: VirtualBox v6.1.0 r135406 (Qt5.6.3)
How to create a shared folder between your host (macOS Catalina) and guest (Fedora 31 SE) provisioned through VirtualBox 6.1.
Start the Virtual Machine and run the following commands:
sudo dnf -y install kernel-devel-$(uname -r)
sudo dnf -y groupinstall 'Development Tools'
sudo mkdir /media/cdrom
Select Devices > Optical Drives and ensure that Remove disk from virtual drive is greyed out. If it isn't, select this option to eject the ISO (presumably) used to provision the VM.
Select Devices > Insert Guest Additions CD Image...
Run the following commands within the VM:
sudo mount /dev/cdrom /media/cdrom
cd /media/cdrom
sudo ./VboxLinuxAdditions.run
sudo usermod -G vboxsf -a $USER
Restart the Virtual Machine and your new folder should now appear under /media/.
Happy Hunting!