Assuming it hadn't already been showing 0 miles left already...
then running in idle for 10 mins will be fine
In normal driving conditions, if I fill mine up when showing 0 miles left, I can get only 45 / 46 ltrs of fuel in.
which means there is about 4 or 5 ltrs left in it at that stage - enough for about 30 / 40 miles or more.
Even at 60mph, that would mean a good half hour or so of driving - and it would be using a
lot more fuel at 60mph than at idle