Yes, G10 is abrasive to metal parts that come into contact with the cut edges.
However, the glass fibers are fully contained along the molded faces, so you would only be rubbing up against a fairly hard resin material if that was to be your contact surface. If you keep the contact force and relative velocity low, the resin will not heat excessively and get soft and change the friction.
Cutting G10 with saw blades eats saw blades because it is tough--and abrasive.
The next question should be "how abrasive, and therefore how much life can I expect from such a combination?" Now you will need to test. Most engineers would not design edge contact with G10 sheet for aerospace parts. That does not mean it wouldn't work for certain model applications. Personally, I would not run cable leadouts thru a drilled hole in G10 bellcrank due to a likely short lifespan and suspect reliability. It is easy to do something much better.
But if you were using glass-reinforced solid stock (FRP) to make things, then any cut edge, or any wear on a molded edge will also be more abrasive than you might otherwise expect.
Here's some light reading. Knock yourself out:
https://www.slideshare.net/iaeme/two-body-abrasive-wear-behavior-of-short-glass-fiber-and-particulate-filled-polymethylThe Divot