If the 2010 Mac Pro is the one running Sequoia, then yes.
If the 2010 iMac is the one running Sequoia, then no.
Wasn't clear which is the case from your post.
edit: the support article says "the other Mac that you're connecting it to must have been introduced in 2019 or earlier and have macOS Catalina or earlier installed" but this isn't actually true for the 2010 iMac as newer versions treat it like a generic DisplayPort display which works fine. The 2010 iMac itself does need to be on High Sierra or earlier.