Gavin is correct that Tomcat is not actively tested by any of the Jenkins core maintainers. Tomcat 10 is known to not work. It is listed as “Level 3: Unsupported” in the servlet container support policy.
There are users that continue to use Tomcat 9 with Jenkins, but Jenkins core maintainers focus their efforts on the versions of Winstone and Jetty that are bundled with Jenkins. The limitations of Tomcat 9 and other servlet containers are described in the install guide for other servlet containers.
See the servlet container support policy for more details:
Unless there is a very strong reason, use the Winstone (Jetty based) servlet container that is included with Jenkins rather than Tomcat, WildFly, Websphere, or others.