I would let my ten year old drive on my lap in the neighborhood which I remember doing with my dad and which I’ve done with my kids.
This question is off the main topic, but is that really a good idea? It may be fun for the kid, but cars are not toys.
When I was a kid (I don’t recall the age), my father had the bright idea of letting me put the car into the garage. I put my foot on the wrong pedal and almost crashed into the wall.