Python 3.10 support

[rossant]

Currently Python 3.11+ is required. Python 3.10 is the default version installed on Ubuntu 22.04 LTS which will be end of life in 2027.

[jeromeetienne]

• originated from Handle python 3.11 as the minimal python version #5 (comment)

[rougier]

We can probably support 3.10 but this require importing specific stuff for type annotation.