Cylindrical dimensions in practise

If I am planning to 3D print two objects one of which has a cylinder of, for example 10mm diameter, and the other of which has a cylindrical hole into which the first object’s cyclinder needs to fit snuggly, but relatively friction free, how much more than 10mm would I be wise to make the diameter of the hole?

Clearance matters in 3D printing based on the materials but keep in mind to put the waste supports on either bases of the inner cylinder not on the side area.