I would think you could do with a Dynamic IP NAT to achieve the 1:1 NAT you're wanting (see https://docs.paloaltonetworks.com/pan-os/9-0/pan-os-admin/networking/nat/source-nat-and-destination-... ). However, I think if you're doing this on the corporate side, you're going to have a problem with conflicting routes (10.10.10.0/24 is both down the tunnel, and on the LAN). If you could do this at the customer side before it crosses the tunnel, that might be better.
EDIT: Actually, the more I think about it, that's going to cause the same problem on the other side then. Maybe you'll have to NAT both directions with two different pools that don't conflict with the 10.10.10.0/24 address. Maybe you translate 10.10.11.0/24 to 10.10.10.0/24 on the corp side, and you translate 10.10.12.0/24 to 10.10.10.0/24 on the client side or something like that.