Can I use DQ10rly firmware on Rly10 hardware?

NO, DQ10rly firmware will not work on Rly10, their hardware is different, this is also the case for DI16ac and Di16 and same for DI6acDQ6rly and Di6Rly6

Why raspihats v2.2.3 fails to install?

Please update your setuptools using sudo pip install setuptools -U and try again.