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I've been using iOS 10 since June and it's been a pleasure to use. I also have it installed on my youngest son's iPhone 5S, and it works well with it. With that in mind, I think it'll work well with your device, too.Mine is showing up in Software Update already but that red notification badge hasn't reminded me yet on my Settings icon.
Could there be any issues with the older chip in the 5c and 5 since it's made for the newer chips in mind?
I have a iPhone 5c and I don't have any broblems with it.