I’m concerned because I’ve read that you need at least 10 observations per predictor variable to get reliable estimates.
It's good to be concerned. The danger with too few observations is that you overfit the data in a way that your model doesn't extend reliably to new cases.
The limitation isn't strictly about the number of "predictor variables." The concern is about how many coefficients you need to estimate from the data. In your case, evaluating "[t]he combination of mulch and vole activity" means examining an interaction term between mulch and vole, adding another coefficient to your model. That's 5 coefficients if you include temperature and moisture.
Is it valid to perform linear regression with 4 predictors and only 16 samples?
Rules of thumb like 10 (or 15) observations per coefficient are just that: rules of thumb that might not apply in any particular circumstance. Frank Harrell explains in Section 4.4 of Regression Modeling Strategies that these guidelines:
Assume typical problem in medicine, epidemiology, and the social sciences in which the signal:noise ratio is small (higher ratios allow for more aggressive modeling).
If the agreement among plots within each combination of mulch and vole is good enough, you might be OK.
Should I consider removing covariates (i.e. soil temperature/moisture) if they are not significantly correlated with the outcome variable?
It's best to pre-specify the model and not to use observed associations between predictors and outcomes to make that type of decision. See Regression Modeling Strategies for guidance, particularly Chapters 2 and 4.
In your case, I'd be worried anyway about including temperature and moisture in your model, as I suspect that those will be affected by mulch and vole and might be mediating the effects of mulch and vole. If you include them in your model, your estimates of the effects of mulch and vole would only be those that aren't mediated by temperature and moisture.
Are there better methods than regression?
Several other methods that you might have heard about (e.g., analysis of variance/covariance) are just special cases of regression models. There are "machine learning" methods that aren't regression, but they wouldn't seem to be very useful in your situation. They are mostly for cases with large numbers of cases and predictors where you want to learn associations from the data rather than to test pre-specified hypotheses like yours.
It’s also possible that I’ll collect a second set of measurements if the variability of my samples for infiltration and/or Ksat is too high.
More data can be helpful if they aren't too expensive to collect. You have to be careful, however, as making duplicate measurements for each plot (called "technical replicates") isn't the same as doubling the number of plots (called "biological replicates"). From the perspective of your model, you will still have only 4 plots per combination of mulch and vole, although (one hopes) with a more precise estimate of the true value within each plot.
You might find a Technical Perspective by the Pollards, Empowering statistical methods for cellular and molecular biologists, Molecular Biology of the Cell 30: 1359-1368 (2019), helpful. Although it's written from the perspective of cellular and molecular biology, it's an approachable summary of general principles for biological study design and analysis.