That’s a great mindset to have! To my way of thinking, a millipede in the wild has a range far larger than any recommended enclosure size. As long as it’s properly furnished and its not having trouble finding the things it needs (like food, water, heat, etc) there’s no reason you shouldn’t be able to provide a space that’s larger than minimum size requirements.
A 10 gallon tank is an excellent size for just about all millipedes. If you want a particularly small kind, you can split the tank in half and keep a different species on each side.
But yeah, there’s no such thing as an oversized enclosure for most species. The few exceptions are small babies of some species (esp. tarantulas) that do best when in tiny spaces so they can easily find food, and some filter-feeders best kept in smaller enclosures so it’s easier to be sure the concentration of food is high enough for them. Pygmy seahorses, for example, are best kept in a tank under 10 gallons or it gets hard to keep them properly fed. Barring those, even extremely timid species can’t be kept in too large of an enclosure as long as they have enough hiding places.