10,000 mile service:
-Rotate and inspect tires; check wheel end play and turning noise
-Inspect cabin air filter
-Inspect cooling system and hoses
-Inspect brake pads/shoes/rotors/drums, brake lines and hoses, and parking brake system
-Inspect and lubricate all non-sealed steering linkage,ball joints,suspension joints,half and drive-shafts and u-joints
-Perform multi-point inspection
I'd just rotate the tires. A typical "oil change" service center will usually do all of these inspection items when the do the typical Oil Change and Tire rotation (about $30 around me). Just get that, without the Oil Change, of course!
As far as "inspecting the cabin filter", a waste of labor. If you're gonna spend the time to contort yourself to get it out, you may as well pop a new one in there. I'd just replace at 20,000.