We consider WIMP dark matter in an SO(10) unified theory that solves the strong CP problem via Parity. In the minimal embedding into the fundamental of SO(10), WIMP dark matter has a colored partner whose decays lead to cosmological problems unless its mass is much above that of the dark matter. We find that this mass hierarchy can be naturally achieved by an SO(10) × CP symmetry breaking Higgs with a missing vacuum expectation value structure. The mass hierarchy between dark matter and the colored partner lowers the unification scale, enhancing the proton decay rate. Hyper-Kamiokande will probe the parameter space with precise gauge coupling unification. We derive the range of the top quark mass and the strong coupling constant preferred by radiative Parity breaking by the Higgs Parity mechanism.