Does he wake up even when his door is closed? If you're not closing the door I suggest that you try that. You can open it when you're on your way to bed.
I also recommend white noise. It's better at masking sound than a radio. The white noise could be in the hall and it would mask your sounds even better.
I've read that continuous music or voice sounds keep us in a lighter level of sleep. You could try just turning off the radio once he's asleep. You could use a CD player so that it would stop at the end of the CD.
At 10 months your baby is old enough to learn how to self-soothe. I also suggest that you not immediately respond to him. I think the no-cry technique for getting babies to go to sleep might work. It's something like when he cries wait 5 minutes before going in. Over a few days extend the length of time you wait. And it's OK if he fusses. Fussing is one way of self soothing.
Some babies are helped by a toy that is sort of like a fish tank, that hangs on their bed rail. The baby can push a button and the "fish" swim while a light turns on. A different button will play music. The toy shuts itself off.