You can always try to fetch the armbian/build repository selecting an older tag but chances are high that compiling will not work since those tags obviously cannot revert changes from upstream or other dependencies Armbian relies on. Fixing if necessary is up to you.
I think 5.10 is legacy at the moment for sunxi. Older kernels are no longer available in master branch.
I don't know about sunxi_usb_udc. Is that one of those vendor developed and never maintained or even upstreamed hardware-specific drivers?