I am not aware of any special divide by 1.5 circuit that avoids the need for accurately matched components.
The main reason to use an opamp is impedance matching. It's desirable to drive the ADC input with a relatively low impedance, ideally under 1K, but under 10K is probably fine. Usually its desirable to have a high source impedance when measuring a signal, so you avoid drawing too much current from it (or "loading" it). The lower your impedance to the input signal, the more likely you are to change it. It all depends on what type of device is creating the signal. If it's directly from an opamp, then loading it with 10K or 30K is probably fine. If it's from some sort of passive circuit involving resistors, adding a significant load might change it. If it's from an opamp, but inside another physical device which has a 100 ohm resistor in series with the output (to protect the opamp in case you do bad things to the output pin), and there's a lengthy wire or cable between the devices adding more impedance, then a low impedance causes some current flow through that 100 ohm resistor and all that wire, perhaps contributing a small error?
Using only three 10K resistors (2 in series for 20K to the 0-10V signals, and 1 to ground), the impedance loading the 0-10V signal is 30K (neglecting the tiny capacitance of the ADC pin). If the 0-10V signal has a low 100 ohm source impedance, then the impedance seen by the ADC is 20100 and 10000 in parallel, or 6677 ohms. That ought to work fairly well if your 0-10V signal can handle a 30K ohm load. If 30K is too low, you can increase the resistors somewhat, but as you go higher the ADC suffers, so an opamp is needed so you can have a high impedance input seen by the 0-10V, but a low impedance output driving the ADC.
Adding the opamp comes with a lot of downsides, however. First, you still need an accurate resistor ratio for feedback around the opamp, or to attenuate the signal before input to the opamp. But from a dividor ratio accuracy point of view, the opamp only makes things worse, not better (other than the huge advantage of impedance matching). Opamps have an offset voltage, which is the same as the input simply being off a tiny bit. Opamps with bipolar transistors inputs (the ones with the lowest input offsets) have input bias current. The input current flows through whatever resistors you're using. Usually the 2 inputs have very similar current, so if you take care to match the impedance seen by each input (usually by adding 1 extra resistor in series with 1 of the inputs), most of that error can be eliminated, but the 2 input currents aren't perfectly identical. Opamps also add noise, but so do higher value resistors. If you use a low noise opamp and low value resistors (probably in the feedback loop), usually it's a net win noise-wise to add the opamp. If you're really concerned about noise, it's important to consider noise in both the voltage error and input current to the opamp... at least when selecting the opamp. The datasheets often omit a spec if it's terrible (nobody can omit input offset voltage, but noise is the type of spec they tend to avoid), so always remember datasheets are written by marketing people with the primary purpose to sell you their product. Fully documenting it is merely a side effect.
Analog design to meet stringent specs, even for seemingly simple circuits, can be challenging.....