'Ten minutes later' and 'after ten minutes' are correct. They're the same, but very few people say 'after ten minutes'. Although it's more natural to say 'in ten minutes', depending on the context.
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They are both correct depending on context and the way you use them:
I arrived at 10 am. My friend arrived 10 minutes later.
My friend arrived 10 minutes after I arrived.
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after ten mintues
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