can I upgrade my 2010 Mac from Sierra to Catalina?

Nope, High Sierra is tops...

macOS High Sierra - Technical Specifications

General Requirements

• OS X 10.8 or later
• 2GB of memory
• 14.3GB of available storage to perform upgrade*
• Some features require an Apple ID; terms apply.
• Some features require a compatible Internet service provider; fees may apply.

Mac Hardware Requirements

For details about your Mac model, click the Apple icon at the top left of your screen, choose About This Mac. These Mac models are compatible with macOS High Sierra:

• MacBook (Late 2009 or newer)
• MacBook Pro (Mid 2010 or newer)
• MacBook Air (Late 2010 or newer)
• Mac mini (Mid 2010 or newer)
• iMac (Late 2009 or newer)
• Mac Pro (Mid 2010 or newer)

macOS High Sierra - Technical Specifications

https://itunes.apple.com/app/macos-high-sierra/id1246284741?mt=12

FWIW, you can upgrade to Catalina. Be aware Catalina is 64bit only so older 32bit apps will no longer run. You can check which apps you have which may need updated or replaced by running Go64.

You can download Catalina from here: How to download macOS - Apple Support