Bringing up a new PC with Xamarin and VS 2015 Pro I received the following error:
An unexpected error occurred trying to initialize Android Designer.
I was able to to fix the issue by opening the Android SDK Manager and updating all the tools to the latest version.
Adding these two references to Droid.csproj and packages.config fixed the problem for me:
<package id="Xamarin.Android.Support.Animated.Vector.Drawable" version="23.3.0" targetFramework="monoandroid60" />
<package id="Xamarin.Android.Support.Vector.Drawable" version="23.3.0" targetFramework="monoandroid60" />