If a machine can handle XP, then there is no reason it couldn't handle even the most lightest desktop variant of Ubuntu, or Debian.
A ten year old machine is still within the Pentium 4 era. Which is still plenty capable with modern Os's.
Now a machine from 15 to 20 years back may have some troubles.
But from my own recent experience, I know you run Lubuntu on a Pentium 3 based system, quite well.
It's less that the machines cannot handle the newest versions of the Os's, it is that the machines are more likely to fall apart from age.
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