As of this writing (January 4, 2023) it’s not possible to install CiviCRM normally on Drupal 10. There is this script:
https://lab.civicrm.org/-/snippets/84
that claims to do it, but we tried that and it failed.
Instead, we are installing Drupal 9.5.0 with CiviCRM for now, using this:
composer create-project drupal/recommended-project:9.5.0 .
composer require civicrm/civicrm-{core,packages,drupal-8}:'~5.56'
until the install procedure will be fixed for Drupal 10.
.
UPDATE: Now it works. See CiviCRM Works with Drupal 10.