I've been mostly a wheel gunner for most of my life. I carried an S&W Model 19 (.357) with 4" barrel for 35 years while hiking and backpacking. I also used it for bullseye competitions out to 50 yd. and in Hunter Sil. competition out to 100 meters.
But 5 years ago I decided to give the Glock 20 a try for use as a trail or "woods" gun. It is about the same overall size as my model 19 .357, and both weapons weigh the same (about 40 oz.) when fully loaded. But the revolver is carrying 6 rds. while the G20 is loaded with 15 or 16 rounds. The 10mm is definitely more powerful than the .357 mag. when both are used in weapons having comparable overall barrel lengths. A .357 revolver with a 3" barrel has the same overall (rifled barrel + chamber) barrel length as the G20 with its 4.6" barrel. When I hand load my M19 .357 and my G20 to their maximum levels, I can get about 1200 fps with a 158 gr. jacketed bullet from the 4" barrell .357 (5.6' overall barrel length) compared to 1200 fps with a 200 gr jacketed bullet from the G20 with its 4.6" barrel. With those loads, the perceived recoil (to me) seems milder with the G20 and accurate followup shots with the G20 are much faster than with the S&W revolver with the same weight. The only things my .357 mag with the 4" barrel can do better than my G20 is slow precise single action target style shooting at longer distances and the convenient use of snake shot rounds up close. Also, before I did a grip reduction on my gen 3 G20, the grip of the revolver fit my large hand much better than the blocky humped grip on the G20. The better grip (along with decades of practice) on the revolver made the revolver a little faster for drawing and firing the first shot than the G20.
So my .357 revolver has gone into retirement while the G20 is riding on my hip whenever I am hiking or backpacking. For me, the G20 10 mm makes a .357 revolver with a 4" or shorter barrel seem almost obselete for many purposes. (I still haven't been able to shoot the heads off of rabbits or grouse with my G20, though.)
The 10 mm is my favorite centerfire cartridge for use in a semi-auto, but I hesitate to recommend it to others. I see it as a niche or specialist round for use by a hunter or use as a woods gun, but only if the 10 mm shooter has large enough hands to grip the G20 firmly with one hand. And I think the 10mm shooter needs to handloads his own ammo. Without hand loading, you are restricted to ordering ammo over the internet from 2 or 3 small ammo makers if you want ammo that is loaded to the full power potential of the 10mm. In addition, my gen 3 G20 required the purchase of an aftermarket barrel when I wanted fully supported case heads for long case life and for safer use with maximum loads and lead bullets. (Those problems were associated with the Glock barrel; they are not inherent to the 10mm cartridge.)
Even though I've killed two mule deer bucks at about 50 yards with my 4" barrel .357, I really think the 10mm (even with a 6" barrel) and the .357 with a 4" barrel are barely adequate for such use. I much prefer to use a .44 mag. with a 6" barrel for hunting deer and larger game.
I see no reason to get a 10mm for use as a PD weapon when dealing with 2 legged varmints. Over penetration is not an issue inherent with the 10 mm if bullets designed for SD are used. With a properly constructed bullet, the 10 mm may penetrate only an inch or two deeper than the .40 S&W with the same bullet, but the greater velocity of the 10mm bullet will result in a lot more expansion (according to data from Double Tap.)
Nevertheless, the 10 mm offers no significant practical advantages over the 40 S&W for such use. The .40 S&W is underrated in IMO. A .40 S&W pistol with a 4" barrel can fire a 155 gr. jacketed bullet at about the same velocity (or slightly faster) as a .357 mag revolver with 4" barrel (true overall barrel length = 5.6") can propel a 158 gr JHP (about 1200 fps) when both are using standard factory loads from Fedremchester. A 10mm firing factory loads from Hornady or Fedremchester will only beat the .40 S&W by a liile bit. The .40 S&W is an effective round for SD and it can be used in a pistol which will fit most shooter's hands better and will typically recoil less than the G20.
But for me, the 10mm is accurate, powerful, and fun to shoot. The G20 makes a pretty good lightweight "woods" gun for the shooter with large enough hands to grip it firmly and to shoot it accurately using only one hand.