Any simple way to show 10 previous pages by id to current page in links as a menu

Here is a simple widget to get you started. You should be able to tweak it to get the effects you want.

class recent_pages extends WP_Widget {

  public function __construct() {
    // widget actual processes  
    parent::__construct(
        'recent_pages', // Base ID
        'recent pages', // Name
        array( 'description' => __( 'Show the recent pages', 'foo'))
        // Args
    );
  }

  public function widget( $args, $instance ) {

    global $post;

    echo $args['before_widget'];

    if (!empty($instance['title'])) {
      $title = $instance['title'];
      echo $args['before_title'].$title.$args['after_title'];
    }

    echo '<ul class="recent_pages">';   
    $pargs = array(
      'post_type' => 'page',
      'posts_per_page' => 10,
      'date_query' => array(
          'after' => $post->post_date
       ),
       'order' => 'ASC',
    );
    $pages = new WP_Query($pargs);
    if ($pages->have_posts()) {
      while($pages->have_posts()) {
        $pages->the_post();
        echo '<li><a href="'.get_permalink().'">'.get_the_title().'</a></li>    <br>';
      }
    }
    wp_reset_query();
    echo '</ul>';
    echo $args['after_widget'];
  }

}
add_action( 
  'widgets_init', 
  function(){
     register_widget( 'recent_pages' );
  }
);

It works mostly by using the date_query argument to WP_Query. Check the Codex for details of how that operates.