Error Code 4010 this was my Fix
I spent hours trying to figure out Error Code 4010. Went through apple community and forums. Everyone saying it was Firewall or Antivirus, so i did everything everyone was saying in discussions and even watched YouTube videos. In my case this did not work for me. I noticed that my iTunes did not have "Check for Updates" under the Help Options tab, also in preferences it was checked for automatic updates. I was a little confused, then i realized i downloaded itunes back in 2015 on my PC. I uninstalled iTunes and searched my PC for anything iTunes related then deleted it. I downloaded the latest version from the Microsoft Store and installed. I finally got my Ipad to restore on iTunes, even with Windows Defender and Firewall on. In my opinion Disabling Antivirus and Firewall was misleading and has nothing to do with the Error.
iPad (10th gen) WiFi