Windows XP has no support for .NET Framework 4.5.
SambaPOS 4 (and 5) requires .NET 4.5
The root of the issue is a compatibility problem between XP and .Net 4.5
The simple answer to your question is No. You cannot install SambaPOS 4 (or 5) on Windows XP. You must use Windows 7 or greater.
XP is not compatible with many applications. There is no good reason to run XP in this day and age.