The 10th Generation iPad is only compatible with the 1st Generation Apple Pencil as shown in the support document you posted from. There is no way to connect the second generation Apple Pencil to the !0th Generation iPad.
Apple Pencil (1st generation)
You can use Apple Pencil (1st generation) with these iPad models:
* iPad mini (5th generation)
* iPad (6th, 7th, 8th, and 9th generation)
* iPad (10th generation)*
* iPad Air (3rd generation)
* iPad Pro 12.9-inch (1st and 2nd generation)
* iPad Pro 10.5-inch
* iPad Pro 9.7-inch
You will need the adapter to connect the pencil's Lightning connector to the iPad's USB-C port.
click here ➜ USB-C to Apple Pencil Adapter - Apple