There is still overlap with a -10* cam, just not at .050 lift. Lobe profiles also have a lot to do with it. Also, that rule you're following is a very blanket statement, and seems to not consider very much else. Engine size, compression and tune are all large factors in being streetable, and the cam profile is a consideration on these and more. Larger engines need bigger cams, so they need a bigger valve events. Designing a cam with a certain amount of overlap may compromise more important valve events, mainly intake open and close. If the valve events are close for the intended application, which have a lot of factors, then I wouldn't be too concerned with the amount of overlap.