At least for Windows XP, you’ll want to create a Sysprep.inf file for use with Sysprep. The Sysprep.inf file tells Sysprep where to search for drivers you add to Sysprep, and allows for some unattended/automated answer responses to ease the burden of Windows setup / OOBE.

Here is a copy of my Sysprep.inf file. Look it over, change what you need (particularly the OEMPnPDriversPath= statement, which you will find more info on under the Add Drivers section of this guide.)