Drupal 10 was released on December 15, 2022. The first minor update, 10.1 will be released on June 21, 2023.
Drupal 9 EOL is November 1, 2023.
This is a great time to update to Drupal 10. The transition is much smoother than previous updates due to the minor changes between 9 and 10 and availability of automatic update tools like rector and phpstan.
Some modules don't have Drupal 10 releases yet, but have a patch for it in the issue queue. Use the lenient composer repository and composer patches to install these. This is all you need for most of them, and the rest need someone to report issues they encounter to get them fixed.