You committed a criminal offence. It is indecent assault on a minor. It is indecent assault even if she consented because a 10-year-old is not able to give consent.
The reason that this wasn’t prosecuted was because of your ages and the length of time and lack of evidence. If you pleaded not guilty, there was only a slim chance that this would have come up with a guilty verdict.
In that respect, to an extent, you have shot yourself in the foot by accepting the Caution which the police have “slipped in”. Because it’s a caution and not a criminal offence, it is exempt from the Rehabilitation of Offenders Act but will appear under “Other Relevant Information” on an enhanced DBS check.
Unfortunately there is no mechanism for getting a caution removed or revoked or appealed or changing your mind.
I’m sorry, I know it’s not the answer you wanted.
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