That my friend is something no one can tell you. Its an acquired feel. Set the impact on very low and let it hammer just a little, if that doesn't budge it try a socket or wrench.
The smaller the impact the better on small diameter bolts, a 1/4 cordless is ideal.
A 10mm head bolt, probably an M6 bolt will beak fairly easily so i wouldn't get too carried away.
I have a full set of rethreading tools, helicoils, time serts, left handed drills and all sorts of stuff and they get used often. Its all part of the business in the salt belt and in Germany (also the salt belt in southern Germany).
Anyone doing their own work i suggest owning these tools and learn how to use them properly. Practice and practice some more on old junk.