Is 10ms really that big of a deal? I'm an amateur musician so have some experience playing in bands, but I have a hard time believing 10ms would feel off when playing with others.
The "problem" part is that Android devices generally don't come close, the lowest-latency Android device on the market today (barring Samsung's custom "Professional Audio SDK") has a 35ms roundtrip latency (ADC -> DAC), and many devices are way beyond 100ms (http://superpowered.com/latency/)
I notice any latency above 7ms. I can compensate pretty well between about 7-14ms. Anything above that will affect the performance. Once you get to, say, 25ms, it's like I lose several years of training.
It's hard to relate to because most people don't have experience doing tasks demanding that level of precision. Perhaps it would be useful to think about what would happen if you introduced a delay between striking a key on your keyboard and the sensation of feeling it travel. You "can type" without any sensation at all (see iPads) but people who are serious about typing go to extraordinary lengths to make the keyboard feel right.
For an audience, 10ms is going to feel like sloppy timing. That will be more of an issue with tightly timed music (techno/EDM) and less with a slow jazz ballad.
So 5ms vs 10ms latency is like the difference between having your amp 5 feet or 10 feet away.