I have never camped at 10,000 ft
My highest hiking has been just about 8300 ft , My Lassen Calif
My highest camping and cooking around 7200 ft
But usually lower than 6000ft
It's a matter of time, water doesn't get as hot, so it just takes longer too cook, it will come to a boil faster at a lower temp, and you turn it down to a low simmer and cook longer
This is soup ,stews, etc... baking with flour is different, frying and grilling, there is almost no difference, meat and fat melt and fry at the same temp,
Water boiling is a matter of air pressure
Tea or coffee let it steep a little longer, because of the lower water temp
If you use instant it won't make much difference, a little more stirring to dissolve it.
With a crock pot and water boiling out faster at lower temp, you can add a little more water before or during the cooking, it's the cooking time factor that increases because the water is at a lower temp