Can we configure Exchange Autodiscover with My Site Host URL for SharePoint 2013 ?

it is only possible for Exchange 2013 and SharePoint 2013

You can find the details and scripts in below article
Configure Exchange Autodiscover with a My Site Host URL in SharePoint Server 2013
https://technet.microsoft.com/en-us/library/dn217895.aspx

What about if we use Exchange 2010 ?

No. It is not possible for Exchange 2010

It will not work for Exchange 2010 because the script tries to update the property named msExchServiceEndPointURL which is new in Exchange 2013.

[string]$propertyName = “msExchServiceEndPointURL”
Write-Host “`nProperty name: $propertyName”

Therefore, it is expected that you receive error “Error setting property” when you have Exchange 2010 server with Exchange 2010 schema. http://technet.microsoft.com/en-us/library/bb738144(v=exchg.150).aspx

https://social.msdn.microsoft.com/Forums/sharepoint/en-US/05b6192c-d4d6-40c6-a35b-44fcde179a1d/autodiscover-sharepoint-2013-error-setting-property