Yes, you can. If she is not able to ride and cant wait alone, she would be handled like a younger child for child swap. Tell the CM that you need Rider Swap (the actual name) because she can't ride and needs someone to stay with her.
It might be easier to do as livndisney suggested though as much as possible since not all attractions do Rider Swap. It's mostly the more thrill type attractions with height restrictions. You may be able to do it as an accommodation for some others. That would be case by case.
When you are getting Fastpasses, use your daughter's park pass to get a Fastpass - the 10 year old can use hers to ride again with the 2nd adult.