How do I connect a 0-10V analog input to MCU with high input impedance?
THe LM358 has an input impedance ~ 10M and output impedance ~ 1k @ 1V/1mA and 100mV /50uA ~2k so it is does not reach negative rail to 0V.  But perhaps close enough if your load is &lt; 50uA or &gt;&gt; 2k.  That is due to saturation of BJT’s.
Consider matching input R to V+,V- to null input bias current induced Vio with ~1M on each input.
Consider output current with voltage divider R’s with &lt;1V = Vout. Raise the output R’s to reduce Iout. The clamp current from MCU diodes will limit the output voltage without a need for a Zener to &lt;&lt; 1mA.
This ought to reduce open cct Vio and Vout .
A better solution might be to use a RRIO CMOS OpAmp with 10M on each input.