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I think your best option is to do it multiples time and get the average of the results. Estimating that with calculation seems pretty difficult given the number of parameters you would have to use :

• The floor friction that can create shifts
• If your robot is correctly built (not heavier on a side or unbalanced) that could induce a movement on the right/left
• If you have a velocity smoother launched in one of your launch files (which is probably the case with a turtlebot3) that could lower the acceleration/deceleration hence the final position.
• The battery state that could lower the performances (but that shouldn't be a big deal though)
• The precision of your 10 seconds.

And so on...

I'm not familiar with the turtlebot3 but if I should guess I would say you should expect a tolerance of about 5~10cm.