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While this isn't the SFS forum, in SFS my general rule as a GM has been that if a success condition or credit condition (i.e. you lose credits if you fail to do a certain thing) I do not allow take 10, all other times outside of combat I will pretty much allow it.
Not to get into too big of spoiler territory but this covers situations like in one of the scenarios where you have a series of 6 checks, you're not particularly stressed although you are trying to impress someone, the DCs of these checks are in the low teens, it doesn't make sense story wise to allow people to take 10 there because it would be auto-success at one of the key success conditions for the scenario (its not the whole success condition but its one of those PCs must succeed at 2 of these 3 things with that being of them) so I do not allow it.
I think this also makes sense in the skill challenge context. Skill challenges are basically the non-combat equivalent of combat that allows more skill focused versus combat PCs to shine since you cannot take 10 in combat, I think it makes equal sense, and this key element of the story clause allows (although the stressed condition would potentially allow) for the disallowing of take 10 in this context.
I personally see no problem with taking 10 in the context of the opposed disguise/engineering checks in the OP as taking 10 in this context is not an auto success and you don't lose credits for triggering the fight where they spot you. Taking 10 does make it a little easier to not get detected because you minimize the problem of one person rolling poorly, but a nat 20 but any of the guards will likely still beat the take 10 even with bonuses.