My DD11 generally prefers the adult menus at TS locations, at 10 would order from the kids menu only infrequently, and even at 9 would sometimes order off the adult menu. The kids menus are really targeted at *kids*, they aren't just smaller portions of the adult menus. My DS9 still orders almost exclusively off the kids menus at TS locations, but even so he's really running out of rope with them.
As for CS: they both started ordering adult meals there starting around 7 or 8, at least some of the time. I think we ordered only one kids CS meal the entire week this summer with my 9 and 11 year olds.
This is one of several reasons we've never gotten the dining plan; my kids often "ordered up", and the plan would not have covered it.
But, like it or not, a 10 year old is an "adult" at Disney restaurants and will pay adult prices at any all-you-care-to-eat location. At a la carte locations, you can ask to see a child's menu for younger kids, generally with no issues.