I've never had any success accessing Apricot floppies on an XP system, HOWEVER I have successfully read in and written back images made using Rawread/Rawrite.
Apricot PCs like the Portable have their own non-standard boot sector, which Windows won't recognise. However Apricot MS-DOS, at least in some versions, can access disks in the standard PCDOS 713k format.
The dsktrans utility in LibDsk includes options to convert the boot sector of a disk image to and fro between the PCDOS and Apricot formats.
If you don't mind running MSDOS look for COTDOS on SIMTEL20. It's a device driver that allows standard DOS access, and formats using the standard Apricot boot sector. You'll need a 5.25" 1.2M or 720K floppy drive. I wrote it ages ago.