We're about ready to migrate to Exchange 2013 from 2010. We have a public folder database on 2010 that users can't see once migrated to 2013. If I run through the commands according to the technet article "Configure legacy public folders where user mailboxes are on Exchange 2013 servers" (https://technet.microsoft.com/en-us/library/dn690134(v=exchg.150).aspx), will users who's mailboxes are still on Exchange 2010 be able to see these public folders?

I know they've made alot of changes recently in how legacy public folders are handled in Exchange 2013 (mostly CU7), but I haven't had to do anything more than just setting the proper public folder database on the Exchange 2013 databases.

That being said, looking over the article you are not doing any moves, and it looks eerily similar to this blog post:

http://blogs.technet.com/b/exchange/archive/2014/11/07/on-premises-legacy-public-folder-coexistence-for-exchange-2013-cumulative-update-7-and-beyond.aspx

So I don't think this would hurt Public Folder access for your users in your legacy environment.

Did you deploy CU7?  If so, then do what both articles say.  If not try using Set-MailboxDatabase -Identity <2013 db name> -PublicFolderDatabase <PF DB NAME>