We present results for the nucleon form factors: electric (GE), magnetic (GM), axial (FA), induced pseudoscalar (FP), and pseudoscalar (GP) form factors, using the second PACS10 ensemble that is one of three sets of 2+1 flavor lattice QCD configurations at physical quark masses in large spatial volumes [exceeding (10 fm)3]. The second PACS10 gauge configurations are generated by the PACS Collaboration with the six stout-smeared O(a) improved Wilson quark action and Iwasaki gauge action at the second gauge coupling β=2.00 corresponding to the lattice spacing of a=0.063 fm. We determine the isovector electric, magnetic and axial radii, and magnetic moment from the corresponding form factors, as well as the axial-vector coupling gA. Combining our previous results for the coarser lattice spacing [E. Shintani , ; ], the finite lattice spacing effects on the isovector radii, magnetic moment, and axial-vector coupling are investigated using the difference between the two results. It was found that the effect on gA is kept smaller than the statistical error of 2% while the effect on the isovector radii was observed as a possible discretization error of about 10%, regardless of the channel. We also report the partially conserved axial-vector current relation using a set of nucleon three-point correlation functions in order to verify the effect by O(a) improvement of the axial-vector current. Published by the American Physical Society 2024