Quintus, by R. Weerstand, is good, but again it’s intense; I might not give it to a 10yo. But I have two unqualified recommendations to give you:
The Ides of April and Beyond the Desert Gate by Mary Ray. I read these two out loud to my whole family this past year. Excellent books! Again, it’s hard to have peaceful subject matter in Roman times, lol, and “stuff” happens but these two are not graphic and I did not need to edit for my 8yo. Also, Twice Freed by Patricia St. John is excellent. My boys also enjoyed reading several Landmarks, I know they read Julius Caesar and Hannibal and the Elephants.
Michelle D