I attempted both
xfs_repair -n /dev/md10
and
xfs_repair -n /dev/sda
Both returned output of
Phase 1 - find and verify superblock...
bad primary superblock - bad magic number !!!
attempting to find secondary superblock...
.found candidate secondary superblock...
unable to verify superblock, continuing...
It repeated that same found candidate and unable to verify 6 more times and then began outputting a large amount of periods.
The drive is mounted when I first start the array and I can access files but anytime something tries to write new files to the drive, it still shows it's mounted but I cannot access the file system of the drive. I may have already solved my own issue though as I found this link Transferring Files within the unRAID Server. I am copying files from /mnt/drive10 to /mnt/drive11 now, and plan to switch the file system of drive 10 to riserfs and then back to XFS after the transfer is completed so I can reformat the drive as it states to do in the link that JorgeB posted under the section Redoing a drive formatted with XFS.
EDIT - After finishing moving the files from one drive to another and redoing the drive following the two links the drive is back in the array and behaving correctly now. Marking this post as the solution to this thread.