The motor only draws as much current as it needs. The more load it is under the more current it will draw, up to the point where you stop the motor completely where it draws the most current -- its stall current.
"Having 10A available" does not mean it will ever draw 10A, just as when you screw in a light bulb it never takes down the local power plant. The internal resistance of the motor, created from incredibly long windings of thin wire, limits how much current it will take.
I'd respectfully disagree with johnwasser on the MC33926 board. The docs state that the chips are rated 5A continuous if you add heatsinks or other cooling. It also has thermal shutdown to prevent it from overheating. If you're just running around on smooth/flat surfaces I wouldn't expect any issue.