GTPase activator for the small GTPases RhoA and Cdc42 by converting them to an inactive GDP-bound state. Essential for PTKB2 regulation of cytoskeletal organization via Rho family GTPases. Inhibits PAK2 proteolytic fragment PAK-2p34 kinase activity and changes its localization from the nucleus to the perinuclear region. Stabilizes PAK-2p34 thereby increasing stimulation of cell death (By similarity). Interacts with PKN3. Interacts with caspase-activated PAK2 proteolytic fragment PAK-2p34; the interaction does not affect ARHGAP10 GTPase activation activity towards RHOA and CDC42. Interacts via its SH3 domain with PTK2/FAK1. Interacts with PTK2B/PYK2; the interaction negatively regulates ARHGAP10 GTPase-activating activity (By similarity). Association to cell membrane is dependent on PH domain.