Every time I do a major upgrade to #kicad I always have a problem. Mostly, it's just because I forget to re-add my custom library but upgrading from 9 to 10 has caused loads of problems with older projects.
I just add the KICAD{OLDVER}_3DMODEL_DIR to the path. with V10 this doesn't work so my older boards lose their 3D models.
I noticed that in version 10, the 3D models are all .step the .wrl files have gone.
I found this on the @kicad github.
https://gitlab.com/kicad/code/kicad/-/work_items/23126
fix in 10.0.2

