Start the 10 year old in the car on the way home. You can verbally prompt him and have him read out each question and his answer as you drive. As soon as you arrive home, focus on the 6-y-o early on his own as the 10yo does something else–plays outside with friends. Then send the 6yo away and finish with the 10yo. Do what you can during laundry, dinner prep, etc. It’s actually BAD for him to get dependent on you sitting with him all the time. Verbal interaction can keep a kid focused and help him develop independence. Your job is to say, “And what’s the next question?…So what’s the answer?” And the like. That should be it for 85% of the homework. He is just kept moving by you at this age. He thinks for himself.
The 6yo WILL leave you alone with no screen time outside of the car if you make the alternative something like scrubbing toilets. In the car, you’ll have to use the iPad–temptation is just too physically close.