Setting up iPad
I’m trying to set up an iPad and it’s says no iCloud backups are compatible with the version of iOS on this ipad
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You may need to update the iOS version on your new iPad if it's older than the one on the older iPad before you can restore the backup onto it.
Geoff above is mistaken, you can use backups made on older iOS versions with devices running newer iOS versions, but you cannot use backups made on newer iOS versions on devices running older iOS versions.
So you can totally use an iOS 10 backup on a device running iOS 14 just fine.
See here in case the iOS versions on the new iPad is older than the one on the old iPad: link-> Restoring an iPhone, iPad, or iPod touch backup from iCloud or from a computer when a later version of iOS or iPadOS is required - Apple Support