Yellow card or a direct red card for an offense happened 10 mintues ago?

Yes, there is VAR (video assistant referee) in certain leagues. The incident would then get reviewed and the referee could show a yellow card or a red card to the player. In certain cases, he could also remove a yellow card from a player.

From the 2020/21 Laws of the Game:

a disciplinary sanction may only be issued after play has restarted if another match official had identified and attempted to communicate the offence to the referee before play restarted; the restart associated with the sanction does not apply.

The amount of time elapsing since the offense does not change whether a disciplinary sanction (yellow or red card) can be given for it.