[Khumalo]

I'm having a difficult time thinking of a situation where limping Q10s UTG is a good option six-handed.

To the OP, I recommend considering a raise with this hand when first to act only if a few conditions are met.

1) The table climate is favorable. This can mean several things: tight-passive players who will give you their blinds easily, one or two loose-weak players who call you but fold a lot of flops to your c-bets, super-stations who call with any two cards and pay you off with any piece / draw when you flop TP or better (without semi-bluffing you or pressuring you), players whom you have good reads on and can manipulate well when good spots arise, etc.

2) You have a decent idea how to play out of position with marginal holdings versus one or two weak-to-decent opponents. This usually involves a lot of cautious play, a wider than usual check-calling range, the occasional bit of check-raising against certain types of villains, sporadic block-betting on the turn to set the price going to the river versus passive pay-off wizards, and other lines you'll learn with experience.

Being out of position is always going to be a tricky aspect of NLHE, and your short-handed UTG range (once you move past bare beginner status) should be dynamic and adaptive.