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All of the original AR-10's I've seen are CFA's, but if I'm not mistaken there were some factory produced semi autos that were built for civilian use, I think that these fall into the same grey area as some of the FAL target rifles, where there may be one or two unprohibited examples in the country.
The very few original semi-auto AR-10s are non-restricted. Apparently there is one in Canada. All other original AR-10 rifles are either Selective Fire or CA, and are therefore prohibited. Current production "AR-10" rifles are restricted as variants of the AR-15, which is restricted by name. Realistically, the are derived from the AR-15, in 7.62mm. IF there were an exact reproduction of the original semi-auto AR-10 were put back into production, it should be non-restricted.