Yes, the iPhone 5c may be discontinued but it does support iOS 10.0 or later. However, the iPhone 5, 5c and other older devices do not feature the hardware to support all the new features found in iOS 10. Here's a list of devices that support iOS 10 or later:
iPhone
- iPhone 5
- iPhone 5c
- iPhone 5s
- iPhone SE
- iPhone 6 and 6 Plus
- iPhone 6s and 6 Plus
- iPhone 7 and 7 Plus
iPad
- iPad mini 2 - 4
- iPad 4
- iPad Air 1 - 2
- iPad Pro (9.7- and 12.9-inch)
iPod touch
- iPod touch (6th generation)
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