Yes. Parallel Computing Toolbox that you install with R2010a will be compatible with MATLAB R2010a, i.e. there is a R2010a version of PCT.
This is the case with all add-ons. When you install a particular version of MATLAB, you also install the corresponding toolbox for that version. You don't upgrade just MATLAB. You upgrade MATLAB and any other add-ons that you have license for.
So the only question is whether you have the license for that toolbox.
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