Here we derive a recurrence relation. We count the number $a_n$ of wanted strings of length $n$ from the set $\mathcal{V}=\{0,1\}$, i.e. binary strings of length $n$ which do not contain a bad word from $\mathcal{B}=\{010,101\}$.
We do so by partition them according to their matching length with the initial parts of a string of length $2$. We consider for $n\geq 2$:
\begin{align*}
\color{blue}{a_n=a^{[00]}_n+a^{[01]}_n+a^{[10]}_n+a^{[11]}_n}\tag{1}
\end{align*}
The number $a^{[00]}_n$ counts the number of valid strings of length $n$ which start with $\color{blue}{00}$ from the left.
The number $a^{[01]}_n$ counts the number of valid strings of length $n$ which start with $\color{blue}{01}$ from the left.
The number $a^{[10]}_n$ counts the number of valid strings of length $n$ which start with $\color{blue}{10}$ from the left.
The number $a^{[11]}_n$ counts the number of valid strings of length $n$ which start with $\color{blue}{11}$ from the left.
We derive a relationship between valid strings of length $n$ with those of length $n+1$ as follows:
If a string counted by $a^{[00]}_n$ is appended
If a string counted by $a^{[01]}_n$ is appended
If a string counted by $a^{[10]}_n$ is appended
If a string counted by $a^{[11]}_n$ is appended
These relationships can be written as
\begin{align*}
\color{blue}{a^{[00]}_{n+1}}&\color{blue}{=a^{[00]}_{n}+a^{[01]}_{n}}\tag{2}\\
\color{blue}{a^{[01]}_{n+1}}&\color{blue}{=a^{[11]}_n}\tag{3}\\
\color{blue}{a^{[10]}_{n+1}}&\color{blue}{=a^{[00]}_n}\tag{4}\\
\color{blue}{a^{[11]}_{n+1}}&\color{blue}{=a^{[10]}_n+a^{[11]}_n}\tag{5}\\
\end{align*}
We can now derive a recurrence relation from (1) - (5). We obtain for $n\geq 2$:
\begin{align*}
\color{blue}{a_{n+1}}&=a^{[00]}_{n+1}+a^{[01]}_{n+1}+a^{[10]}_{n+1}+a^{[11]}_{n+1}\tag{$ \to (1)$}\\
&=\left(a^{[00]}_{n}+a^{[01]}_{n}\right)+a^{[11]}_{n}+a^{[00]}_{n}
+\left(a^{[10]}_{n}+a^{[11]}_{n}\right)\tag{$\to (2),(3),(4),(5)$}\\
&=2a^{[00]}_{n}+a^{[01]}_{n}+2a^{[11]}_{n}+a^{[10]}_{n}\\
&=a_n+a^{[00]}_{n}+a^{[11]}_{n}\tag{$ \to (1)$}\\
&=a_n+\left(a^{[00]}_{n-1}+a^{[01]}_{n-1}\right)+\left(a^{[10]}_{n-1}+a^{[11]}_{n-1}\right)\tag{$ \to (2),(5)$}\\
&\,\,\color{blue}{=a_n+a_{n-1}}\tag{$\to (1)$}
\end{align*}
We derive the wanted recurrence relation for $a_n$ as
\begin{align*}
\color{blue}{a_{n+1}}&\color{blue}{=a_{n}+a_{n-1}\qquad\qquad n\geq 2}\tag{6}\\
\color{blue}{a_0}&\color{blue}{=1}\\
\color{blue}{a_1}&\color{blue}{=2}\\
\color{blue}{a_2}&\color{blue}{=4}\\
\end{align*}
where we set $a_0=1$ for the empty string and $a_1=2$ and $a_2=4$ according to the number of valid strings of length $1$ and length $2$.
We can now find the wanted number $a_{10}$ iteratively by calculating
\begin{align*}
a_3&=a_2+a_1=6\\
a_4&=a_3+a_2=10\\
a_5&=a_4+a_3=16\\
a_6&=a_5+a_4=26\\
a_7&=a_6+a_5=42\\
a_8&=a_7+a_6=68\\
a_9&=a_8+a_7=110\\
\color{blue}{a_{10}}&\,\,\color{blue}{ =a_9+a_8=178}
\end{align*}
in accordance with the coefficients of the series expansion of $f$ in another answer.