I would fold. You run into the exact scenario far to often.
You have 31% equity but that does not reflect ICM which comes into play this deep in a tournament
Survival has value
For me this is also a no-brainer jamming spot. UTG has 4BB, so this is almost like a raise first in spot. And if you dont open ATo from CO, what hands do you even play? Unless you have aces, there is always the risk, that someone behind wakes up with a better hand. In this spot it was a coin-flip for the side pot, which is certainly not the end of the world.
I do not fold here but I do not do the shove I only call and I wait for the action of the 3 players that are left to play, then when the button makes the 3 bet it is very likely that I would go with my whole stack since I am only going to having 10BB and A10 is a good hand to go to flip with 10BB is the only thing different that I would have done although the result would be the same but I would have played the hand differently
I would definitely re-jam the 14bb from the CO position and hope not to run into a bigger ace or pair in the button/blinds!! A 10o is crushing the UTG 4bb range