Call the manager a day before you want the cash and tell them the amount and pickup time. They can make the arrangements/transfers and will have it ready for you.

Depending of the banks layout, you will be ushered to a commercial window or to an out of public view area. You will also be more comfortable than standing at a window watching the teller count big cash in view of other customers.

While $10k is not that much money for a bank, I’m thinking their security measures explain your experience.