First of all, +4 and -10 are levels (of voltage), not impedances. Yes, those should be matched (or at least be compatible) or you'll either be overloading inputs or unnecessarily degrading the signal-to-noise ratio. Impedance isn't a measurement of voltage, but of how much current is drawn (or supplied) at a particular voltage.
Impedance-matching in almost all modern line-level audio gear isn't important, because power transfer isn't an issue, only "signal transfer" (in the form of voltage). Theoretically, you could have a problem if you run a high-impedance output into a lower-impedance input ... but -- if you have the specs at hand -- take a look at the stated output and input impedances on some gear. The input impedances are hundreds and thousands of times higher. Put another way: almost all line-level boxes are built so they don't require any significant current at their inputs, and are capable of supplying much more current at their outputs than any similar device is likely to want.