No, there is no “full archive” page like you describe created by default. This would basically be the twentyten index page set to display “your latest posts.” If you don’t want to access the archives via some sort of filter (category, author, year, month etc.) then you will need to create your own archive template and page like you described above. you could also use the twentyten index.php as the basis for your new template.
So you can create the archive page, set it to use your new template and use the url myblog/archive like you wanted.