Xiaomi started rolling out the update MIUI 18.104.22.168 for Mi 10 devices, these updates are started rolling out in a phased manner. you can download from the below links if you are not receiving any OTA update.
The update contains minor bug fixes, April 2020 Security path, and NAVIC support.
The total size of the update is 463MB.
Mi 10 MIUI 22.214.171.124 Changelog
How to Update the Software version MIUI 126.96.36.199 on Mi 10?
Step 2: Copy the Zip file to the internal storage
Step 3: Reboot the phone into recovery mode by pressing both the Power and Volume UP buttons together
Step 4:Navigate the power up & down key once you are in recovery mode and select the downloaded zip file.
Step 5: It will start installing and once done it will reboot automatically and it will boot into the newer version