They won't initially offer it for $10 without a tip ever.
I do DoorDash for extra money, and the initial offer in my area is always $2 if there's no tip (for food delivery, shopping can be more), and since tips added after delivery are almost nonexistent, I never take these orders.
When I turn that down, they offer it to the next driver for $2.25, or $2.50, and keep going around until they find someone to take it. They'll also try to bundle a couple of low paying offers together ,or find a higher paying offer to bundle it with.
But they don't offer it for $10 unless they absolutely have to.