Hi there, and welcome to the forum!
For the autonomous bonus, the 10 points are awarded to the team that scores more in the autonomous period. Looking in the Game Manual will answer this question, specifically rule SC5
This explains that the bonus will be awarded to the team that scores more points (excluding parking as shown).
You specifically mention VURC, so it’s always a good idea to check if there are different rules. Fortunately, you can see if there is a convenient grey box below that rule which says “This rule is applied differently for VEX U. See Rule …”
In this case, there isn’t any difference for the bonus, but there is a difference in the Autonomous Win Point criteria.
I hope this helps!