A novel soybean variety, designated XB02R10 is provided. Also provided are the seeds of soybean variety XB02R10, cells from soybean variety XB02R10, plants of soybean XB02R10, and plant parts of soybean variety XB02R10. Methods provided include producing a soybean plant by crossing soybean variety XB02R10 with another soybean plant, methods for introgressing a transgenic, mutant trait, and/or native trait into soybean variety XB02R10, methods for producing other soybean varieties or plant parts derived from soybean variety XB02R10. Soybean seed, cells, plants, germplasm, breeding lines, varieties, and plant parts produced by these methods and/or derived from soybean variety XB02R10 are further provided.