Can we restore iPhone 10 without computer

I think you're going to need provide more information on what you are trying to do.

Are you trying to restore the phone back to factory specifications? Do a 'wipe' on the device and get rid of all data? If so, then no, you don't need a computer, you can do that from the phone itself.

If you are trying to restore the phone to a backup you generated, then the answer is that it depends on how you backed up the phone. Did you back up on a computer, with the phone connected? Or did you backup using iCloud?

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No, you need a computer to do that.