Proper training in all full-scale aircraft includes forced landing scenarios. It also includes training in how to prevent such scenarios. Anyone who takes to the skies thinking they never need to deal with forced landings is a fool looking to...
What you seem unwilling to accept is the risk of the drone falling out of the sky and causing catastrophe goes way up if you keep flying. It is not a manageable risk.
Lipo serial battery assemblies are not like gas tanks. "10%" is not a reliable...
Q. How to avoid forced landing because of low battery?
A. Don't continue flying with a low battery.
Any other "solution" is simply delaying a forced landing to compensate for poor flight planning and execution.