This official document Office versions and connectivity to Microsoft 365 services gives introduction:
We won’t take any active measures to block other versions of the Office client that are still supported and are up to date, such as Office 2013 with Service Pack 1, from connecting to Microsoft 365 services. But these older clients may encounter performance or reliability issues over time.
So Office 2010 will not be blocked by Micosoft.
Office 365 is designed to work best with Office 2016, Office 2019... Previous versions of Office, such as Office 2010, Office 2007, and Office for Mac 2011 may work with Office 365 with reduced functionality.
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