I am sure matplotlib cannot do this. Actually, I don’t think that EPS10 is the indicated version of EPS, and not just a tag indicating .eps files saved by Adobe Illustrator version 10 (or higher) with the option “EPS 10 Illustrator”. This forum topic seems to support this view.
I can’t find the canonical link on the Adobe website as I would like, but this blog / article does a great job explaining what it does and the fact that it is an option to save EPS in later versions of Illustrator.
As a side note - it looks like the format is deprecated in the most modern versions of Illustrator ( see the forum question here )