In PKI 10.9 the ACME responder was part of pki-server package, which is a dependency for pki-ca. In PKI 10.10 the responder has been moved into a new pki-acme package, which is separate from pki-ca, so IPA needs to require pki-acme in order to use ACME. This is currently being addressed in this PR: https://github.com/freeipa/freeipa/pull/5039

In addition to that, in PKI 10.9 the ACME schema was imported automatically when IPA installs CA. In PKI 10.10 IPA needs to import ACME schema (schema.ldif) when installing ACME and create the base entries (create.ldif) as described in the following document:
https://github.com/dogtagpki/pki/blob/master/docs/installation/acme/Configuring_ACME_Database.md