SoC programming other devices

If you are talking about reflashing the Max 10's just by closing the JTAG chain then no. The cyclone V SOC can only be a slave on the JTAG interface and not a master.

If you want to use the JTAG interfaces to the Max 10's, then you will need a mux and connect the chain to regular IO's on the Cyclone V. Then the Cyclone can become a master on the JTAG interface and you can execute something like a JAM player ( https://www.altera.com/support/support-resources/support-centers/devices/programming-tools/jam-stapl/tls-jam-embedded.html ) to flash the Max 10's.

Alternatively if you already have some CPU's on the Max 10's that are talking to the Cyclone V, you can implement a remote upgrade system ( https://www.altera.com/en_us/pdfs/literature/an/an741.pdf )