I suggest taking Robotics/Engineering course and taking drivers ed it the summer of after school. If that is an option. In CA while classroom or online drivers ed & behind the wheel classes are required to get a license under 18. These classes are not offered at our public schools anymore because of cost. My son took online drivers ed this summer, and has just completed his behind the wheel and will hopefully be able to get his license in 6 weeks. The classroom drivers ed courses are really easy for and boring for gifted kid so unless he is motivated to learn to drive and WANTS to take this class. It's a poor substitute or a desired Robotics class.
Try talking to the principal or vice principal and see if an exception can be made. It's not as if he is significantly younger than other kids in the class. And it doesn't sound as if he has to take a class labeled PE for 10th graders.
cricket3 -- The good thing is the PE grade is often not included in the grade point average colleges look at. At least the state schools in CA don't care what you got in PE. In our school not dressing appropriately for PE counted as not attending. My daughter had a friend for failed PE for not changing for PE class. While the school encourages students to wear the PE uniform, any t-shirt, shorts (sweats in the winter) & gym shoes will do.