A 50 lb bag of fast setting concrete is about $7.50 at Lowes. An 80 lb bag of High Strength is about $6. A 50 lb of fence post concrete is $3.58. As I recall, a 12" diameter hole 36 inches deep minus a 4 x 4 x 36 takes about 2 cu feet of concrete. An 80 lb bag holds .6 cu ft of concrete. A 10" hole drilled with a 10" auger would take 1.6 cu ft. If the hole is kept to about 30" x 10" with gravel 3 inches deep (33" total) then 2 80 lb bags should be close. That is $12 a hole X 20 holes or $240. Add in a $60 wheel barrow and a shovel, and the whole thing is under $300. Using what most people would use, Fence Post Concrete mix at $3.58 @ 50 lb bag, it would take maybe 3 bags @ 50 lbs, or $10.75 per hole. Normally one puts 1/3 the post height in the ground to be 100% safe, then they add a couple inches of gravel or rocks at the bottom to help with drainage or to set the height. This makes a 10' post essentially 30" - 31" inches in the ground. It isn't going anywhere that deep in the ground unless one is in swamp muck or unstable soil.
One thing to consider is if there any chance some wayward driver or tree falling could bend those posts to where they would have to be replaced. If so consider some kind of pvc/vinyl sleeve around them so they can be jacked out and replaced with a new post. I put my redwood fence posts in such back in 1992. When I replaced the fence two years ago, each post came out of the sleeve with the exception of a couple my A-hole neighbor let water drain into those post areas for 20 years, and tree roots from trees they planted too close to the fence. One must caulk the top of the sleeve to the post to keep water out in the rainy season. Definitely cap the tops.
1/3 the post height is used for fences which have a wind load equal to the area of the fence. I would think the wind load on solar is much less so maybe even 24" would be more than enough. Check your city code incase they have something there. It could be as short as 12" to 18" if there is no wind load. Solar panels are pretty light.