Dimensions in SVG are in arbitrary units, with no fixed relationship to real-world units (such as mm). To make a correctly-sized 2.5D shape for Tinkercad requires some spoofing to get a file that Tinkercad will accept.
1. Before starting a design in AD, go to the Document Setup tab (upper left of the UI).
2. In the dialog, set the DPI to 25.4 (you may recognize this number), then OK.
3. Design your shape at the required size in mm (object dimensions are at lower right in UI).
4. When your design is complete, select File | Export and choose SVG.
5. In the first dialog select the SVG (for export) preset then hit the More button
6. In the next dialog, make sure Use Document Resolution is checked. Leave all the lower option boxes unchecked, except for Flatten Transforms (unchecking this won’t change the eventual result, but the SVG file will be a bit more complicated).
7. Click Close, then Export.
8. Import the SVG file into Tinkercad. Your shape should appear on the XY plane at the correct size, extruded by 10mm in the Z direction. It’s now a 3D shape that can be manipulated like other shapes in Tinkercad.