I can compute it the following way:
\begin{align} E[Z] = E[Z | A < B]P(A < B) + E[Z | B < A]P(B < A) \\ P(A < B) = 0.75 \\ P(B < A) = 0.25 \\ E[Z | A < B] = E[A | A < B] \\ = \int_{0}^5 \int_{a}^{5} a\frac{1}{37.5} dbda \\ + \int_{0}^5 \int_{5}^{10} a\frac{1}{37.5} dbda \\ = 2\frac{2}{9} \\ E[Z | B < A] = \int_0^5 \int_{0}^a b \frac{1}{12.5} dbda \\ = \int_0^5 \frac{a^2}{2} da \\ = \frac{5}{3} \\ \therefore E[Z] = 2\frac{2}{9} * 0.75 + \frac{5}{3}*0.25 = 2 \frac{1}{12} \end{align}
I am wondering if there is a simpler approach based on symmetry? This problem seems to be nicely structured that there should be a very simple symmetry argument, but I'm not sure what it is.
This is not a symmetry argument, but it seems slightly simpler:
$$E[Z]=\int_0^\infty P(Z>t)\,dt = \int_0^\infty P(A>t\text{ and }B>t)\,dt=\int_0^\infty P(A>t)P(B>t)\,dt.$$ But $$P(A>t)=\begin{cases}1-\frac t 5& \text{if } 0\le t\le 5\\ 0&\text{if }t>5;\end{cases}$$ and similarly $$P(B>t)=\begin{cases}1-\frac t{10}& \text{if } 0\le t\le 10\\ 0&\text{if }t>10.\end{cases}$$ So $$E[Z] = \int_0^5 (1-\frac t 5)(1-\frac t{10})\,dt = \frac{25}{12}.$$