Is there a version that works for Windows XP?

The simple answer is yes.

I have a feeling you do not need to go too far back. I think there is a good chance 5.6.3 will work on XP. It is even possible 5.7.2 does.

If you have not found it already, they are all here, though it gives no clue about compatibility.
http://textadventures.co.uk/quest/desktop