I got it working. The files I had on my sysprep file were only up to version 8 and I needed 10. After downloading the newest version (v10) and adding the paths to the sysprep.inf, it worked.
In case anybody else wants to know, I used this link to help get me going.
Adding Intel Matrix Drivers to Your XP Image for AHCI SATA Support | Symantec Connect
Re: Updating base image to work with AHCI systems
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