Yes, after approximately 6 months of age full term infants who are otherwise healthy are not at risk for SIDS and often roll to their stomachs. At that age care should focus on appropriate safe bedding more than back-to-sleep.
Children can have varied sleep patterns. 10.5 hours of sleep is fine at this age, particularly if he still takes a nap occasionally. The time to bed is also fine, though it could be altered depending on the family schedule and the child’s needs, as long as he ends up getting enough total sleep. So you are doing fine.