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Solved this a little while ago but have had a break from the project since. As much as it pains me to say it, the issue was caused by a rogue 'ur5' reference in one of the UR10 launch files (most probably sensor_manager.launch.xml). Something like:

<launch>

  <!-- This file makes it easy to include the settings for sensor managers -->  

  <!-- Params for the octomap monitor -->
  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
  <param name="octomap_resolution" type="double" value="0.06" />
  <param name="max_range" type="double" value="5.0" />

  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
  <arg name="moveit_sensor_manager" default="ur5" />
  <include file="$(find ur10_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />

</launch>

Kicking myself, thanks for the help all the same!