Restore Python 3.10 support #1871

Job	Run time
ubuntu (ubuntu-latest, 3.10, tests --ignore tests/model --ignore tests/statespace --ignore tests/...	14m 19s
ubuntu (ubuntu-latest, 3.10, tests/statespace --ignore tests/statespace/core/test_statespace.py -...	7m 9s
ubuntu (ubuntu-latest, 3.10, tests/distributions)	6m 16s
ubuntu (ubuntu-latest, 3.10, tests/statespace/core/test_statespace.py)	6m 5s
ubuntu (ubuntu-latest, 3.10, tests/statespace/filters/test_kalman_filter.py)	2m 37s
windows (windows-latest, 3.12, tests/model)	13m 53s
windows (windows-latest, 3.12, tests/statespace/core/test_statespace.py)	9m 35s
windows (windows-latest, 3.12, tests --ignore tests/model --ignore tests/statespace --ignore test...	23m 38s
windows (windows-latest, 3.12, tests/distributions)	10m 48s
windows (windows-latest, 3.12, tests/statespace/filters/test_kalman_filter.py)	5m 30s
windows (windows-latest, 3.12, tests/statespace --ignore tests/statespace/core/test_statespace.py...	11m 49s
ubuntu (ubuntu-latest, 3.10, tests/model)	9m 17s
all_tests	2s
	2h 0m 58s

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