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Depends. I shoot AR10 rifles in the 20" and greater without a brake. Under 20" and I often opt for a brake, or if it's a very light rifle. The AR10 semi auto action does soak up recoil, it's a straight in line pulse and they aren't that light which also helps. If you're planning on doing CQB or something then yes you will need/want a brake. For slow target shooting, it's subjective and everyone will have a different want/need.
If you want one. Go for it. Is it absolutely needed to shoot your AR10 accurately and enjoy it? No.
In DILLIGAF's case with a light weight BCL 102 and an 18.5" barrel I can see a muzzle brake being a big advantage. Especially if you wanted to use it as a carbine.
KAC SR25 ECR 20" . Flash hider.
The AR10 in the bottom with the ODG stock came with a muzzle brake. It now has a flash hider on it. I don't really need a muzzle brake for an AR10 with a 24" semi bull barrel and a badger stabalizer hand guard. These rifles are heavy and have very little recoil as is. The muzzle brake is currently in my parts bin.
Now that being said... Here's a light semi auto in 7.62x54R with a muzzle brake and 24" barrel from the 1940s. It works very well. Almost no muzzle jump at all. So again depends on the rifle, purpose and the shooter.