Unless your 2010 is different (your location seems to indicate that you have a Euro spec version), on my '09 there were two sensors mounted on the passenger side of the engine, where the vac reservoir lives. One is a diff pressure sensor monitoring the DPF (the folks who cleaned my DPF replaced the hoses). The other is a pressure sensor monitoring the exhaust manifold (the hose connected to it leaked on mine and I replaced the pipe/hose combo). The DDE reads both and detects if they are behaving out of line with expected values.

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2003 4.4i black ext./black int./black headliner (kid's runabout)
2014 535d X-drive, M package, silver/black interior

Sold but not forgotten:
2009 E70 35d, black ext./black int./black headliner (sold 2021)
2006 4.8iS Le Mans blue/cream int./black headliner, SOLD in 2012 sadly...

Other hardware:
2015 Cayenne S (wife's new DD and definitely wroooommmmm)
2016 Tundra 1794 edition crew cab, luxo hauler
2005 Tundra crew cab, weekend hauler. Sold after 150k very happy miles.