depending on the finish. Basic concrete driveway should not cost

The $10000 quote was probabaly based on comertial concrete transported with concrete truck.  It still too expensive even for conmertial concrete (should be $4-$7/sf).  However, your driveway only require less than 2 yard of concrete.  You could get some quote using the mixer (the quality would not be as good though), i.e. hire a couple mexicans and rent a mixer for about three days.  It would be much cheaper (maybe around $3000).
BTW, why not still do asphalt?  It would cost about $3000.
Good luck!