I just setup a Tomcat 10.0.0 server (on a Slackware 14.2 system) in /opt/tomcat, using port 8099.  Jenkins was previously running under Apache's reverse proxy on the same machine.

 I downloaded Jenkins 2.263.1's jenkins.war file and placed in the webapps folder.

I created /opt/tomcat/jenkins to store the war file.   /opt/tomcat/jenkins/home is JENKINS_HOME.

Started tomcat with CATALINA_OPTS="-DJENKINS_HOME=/opt/tomcat/jenkins/home/"

When tomcat ran, I get the following error:

05-Jan-2021 12:45:20.266 SEVERE [http-nio-8099-exec-17] org.apache.catalina.core.StandardContext.listenerStart Error configuring application listener of class [jenkins.JenkinsHttpSessionListener]
java.lang.NoClassDefFoundError: javax/servlet/http/HttpSessionListener
at java.lang.ClassLoader.defineClass1(Native Method)
at java.lang.ClassLoader.defineClass(ClassLoader.java:763)
at java.security.SecureClassLoader.defineClass(SecureClassLoader.java:142)
at org.apache.catalina.loader.WebappClassLoaderBase.findClassInternal(WebappClassLoaderBase.java:2431)
at org.apache.catalina.loader.WebappClassLoaderBase.findClass(WebappClassLoaderBase.java:864)
at org.apache.catalina.loader.WebappClassLoaderBase.loadClass(WebappClassLoaderBase.java:1333)
at org.apache.catalina.loader.WebappClassLoaderBase.loadClass(WebappClassLoaderBase.java:1187)
at org.apache.catalina.core.DefaultInstanceManager.loadClass(DefaultInstanceManager.java:540)
at org.apache.catalina.core.DefaultInstanceManager.loadClassMaybePrivileged(DefaultInstanceManager.java:521)
at org.apache.catalina.core.DefaultInstanceManager.newInstance(DefaultInstanceManager.java:151)
at org.apache.catalina.core.StandardContext.listenerStart(StandardContext.java:4589)
at org.apache.catalina.core.StandardContext.startInternal(StandardContext.java:5126)
at org.apache.catalina.util.LifecycleBase.start(LifecycleBase.java:183)
at org.apache.catalina.manager.ManagerServlet.start(ManagerServlet.java:1399)
at org.apache.catalina.manager.HTMLManagerServlet.start(HTMLManagerServlet.java:704)
at org.apache.catalina.manager.HTMLManagerServlet.doPost(HTMLManagerServlet.java:223)
at jakarta.servlet.http.HttpServlet.service(HttpServlet.java:689)
at jakarta.servlet.http.HttpServlet.service(HttpServlet.java:770)
at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:223)
at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:158)
at org.apache.catalina.filters.CsrfPreventionFilter.doFilter(CsrfPreventionFilter.java:211)
at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:185)
at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:158)
at org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:53)
at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:185)
at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:158)
at org.apache.catalina.filters.HttpHeaderSecurityFilter.doFilter(HttpHeaderSecurityFilter.java:126)
at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:185)
at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:158)
at org.apache.catalina.core.StandardWrapperValve.invoke(StandardWrapperValve.java:202)
at org.apache.catalina.core.StandardContextValve.invoke(StandardContextValve.java:97)
at org.apache.catalina.authenticator.AuthenticatorBase.invoke(AuthenticatorBase.java:668)
at org.apache.catalina.valves.RequestFilterValve.process(RequestFilterValve.java:348)
at org.apache.catalina.valves.RemoteAddrValve.invoke(RemoteAddrValve.java:53)
at org.apache.catalina.core.StandardHostValve.invoke(StandardHostValve.java:127)
at org.apache.catalina.valves.ErrorReportValve.invoke(ErrorReportValve.java:92)
at org.apache.catalina.valves.AbstractAccessLogValve.invoke(AbstractAccessLogValve.java:682)
at org.apache.catalina.core.StandardEngineValve.invoke(StandardEngineValve.java:78)
at org.apache.catalina.connector.CoyoteAdapter.service(CoyoteAdapter.java:332)
at org.apache.coyote.http11.Http11Processor.service(Http11Processor.java:374)
at org.apache.coyote.AbstractProcessorLight.process(AbstractProcessorLight.java:65)
at org.apache.coyote.AbstractProtocol$ConnectionHandler.process(AbstractProtocol.java:859)
at org.apache.tomcat.util.net.NioEndpoint$SocketProcessor.doRun(NioEndpoint.java:1568)
at org.apache.tomcat.util.net.SocketProcessorBase.run(SocketProcessorBase.java:49)
at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
at org.apache.tomcat.util.threads.TaskThread$WrappingRunnable.run(TaskThread.java:61)
at java.lang.Thread.run(Thread.java:748)
Caused by: java.lang.ClassNotFoundException: javax.servlet.http.HttpSessionListener
at org.apache.catalina.loader.WebappClassLoaderBase.loadClass(WebappClassLoaderBase.java:1364)
at org.apache.catalina.loader.WebappClassLoaderBase.loadClass(WebappClassLoaderBase.java:1187)
... 48 more
05-Jan-2021 12:45:20.267 SEVERE [http-nio-8099-exec-17] org.apache.catalina.core.StandardContext.listenerStart Skipped installing application listeners due to previous error(s)