IPv4 is the version 4 because former versions of protocols (0 thru 3) are long obsolete; IPv6 is the version 6 because the version 5 was taken by another experimental protocol; and IPv10 ought to be the version 10 because the versions 6 thru 9 were used for proposed successors to IPv4 (and eventually the protocol of version 6 was chosen). I'm not very sure if other assignments were possible in the current standard process though (e.g. up to IPv14 would be available).
[1] https://www.iana.org/assignments/version-numbers/version-num...
"IPv10 allows hosts from two IP versions (IPv4 and IPv6) to be able to communicate, and this can be accomplished by having an IPv10 packet containing a mixture of IPv4 and IPv6 addresses in the same IP packet header."