this I have learned already before with my iPad 2, was a super machine until the day I did the update for the iOS8 and I gave up on the iPad, was so slow that instead of being a helping device was an irritating device, I end up selling it on ebay on that advice that iOS8 did the iPad very slow. the worst is that Apple will block from downgrading after a while. Today who wants can still go back to iOS 9.3.5, Apple is still assigning it, probably until they release the iOS 10.1.
for you MattF7272, I don’t advice to update the iPhone 5S to iOS10, the disadvantages of losing performance are bigger than getting "new" features. can be also that some of the new features are blocked by Apple to older hardware versions, that is typical Apple also in computers macOS system.
I did the update o iOS10 to my 6s, but hopefully next year by the iOS11, I will remember all these troubles and will not do anymore iOS updates. Let’s be honest, what the **** did we win between iOS9 and iOS10? For me, I would say, just the iMessage emotions and special effects, the rest is uninteresting for my use.