I haven't tried the S10, but I've owned most (it seems) of the BT headphones made and so far the Moto S9's (non-HD) were my favorite overall...at least S10's until I accidentally ran them through the washing machine...ugh! Anyway, I would expect the S10's to be at least as good as the S9.
The main thing I've learned with stereo BT headphones is that they ALL have certain issues and NONE of them are built to last, so get one that sounds good and is comfortable, and use them until they die, which in my experience is about 6 months or so.
Avoid the Plantronics Backbeat 903/906. They are the worst ones I've had. Horribly uncomfortable, bad sound, bad range, awkward controls... They have lasted a long time, but that's probably because I hardly ever use them, because I hate them.
They're in a different class, but the Jabra Halo is also a bit of a fail. They sound great, but they don't stay on your head (when you lean forward they fall off), operation is funky and lame, touch controls don't work right, and the charging port is flaky.
They don't make them anymore, but I really liked the Moto S7's until they started freaking out on me after about 9 months.
Anyway, like I said, don't buy any of them expecting perfection and long life. It's just not there. They're all pretty much disposable, just like most things these days it seems.