Udyan Express is about 20 - 30 minutes late usually - not more than that. So unless there is a special situation, 10 pm connection is safe.
Best way to go to Bandra is through the famous Mumbai Local. Catch Western Railway line from Dadar (Western) to Bandra. This journey will take you about 10 minutes. (about 30 minutes - walking to platform, waiting for train, etc.).
So, if Udyan is 30 minutes late, then you can make your connection. Warning: Don't be in too much of a hurry when you board the...
more... Mumbai Local. Wait till the train completely stops. Don't board or get down from a moving train, since the train accelerates very, very fast. Many, many people have got seriously hurt, boarding a moving local.
Rest is luck. Good luck.