This error indicates a failed rollback from previous attempt at upgrading. You will need to restore epo back to 5.3.2 before you attempted the 5.10 upgrade, then go through kb71825 and the pre-install checklist. 5.10 also has stricter tls and ssl cipher requirements. I would suggest, if you haven't already, run iiscrypto on both epo and sql servers, choose best practices, then reboot. Also follow KB51569 to ensure you have supported OS and sql servers for this version of epo.
1: 16:29:43 EPO5100CALog: epoST.err: C:\Program Files (x86)\McAfee\ePolicy Orchestrator\Server\extensions\installed\EPOCore\220.127.116.118\install.xml:167: java.sql.SQLException: Invalid object name 'EPOTaskTagsMT'. 1: 16:29:43 EPO5100CALog: End runRemoteClentCommand(epoST,...) returnCode=1 InstallShield 16:29:43: CallScriptFunctionFromMsiCA() ends CustomAction Prod_InstallEpoCore returned actual error code 1603 (note this may not be 100% accurate if translation happened inside sandbox) Action ended 16:29:43: InstallFinalize. Return value 3.
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