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How are you measuring the voltage on the batteries? Gauge or multimeter?
Do you have a multimeter?
Does the gauge reading fall to 0 when you try to crank the engine?
A reading of 10V is not fully charged, it is a 12V battery. The starter needs 9.5V Min to work. Do you have a trolling motor battery to jump to the cranking battery and see if it will crank then?
Ok, to find out why the engine is not cranking, you will need a multimeter to do some testing. Can you get one?