Yes parallel, to be clear see attached...
If they were in series they won't interact if, as you say, the input impedance on your micro's analog inputs is high, but each would only give it's 1/4 of the 0-10V range (ie 0-2.5V for the first, 2.5-5V for the second, etc).
The pots can probably be 1k, if you go much lower you need to check the power dissipation and the ratings on the pot (Vsupply^2/R).
If you don't mind a bit of non-linearity (and sounds like you wouldn't), the pots can probably as high in value as the actual input impedance of your analog inputs. eg if you your analog inputs have a 10k input impedance and you use 10k pots then the voltage with the pot centered will be 4V instead of 5V.