Ok so as day 21 is coming to a end I have 10 eggs showing no signs of pipping so my question is the 4 that hatched yesterday are fluffed and dry should I go ahead and put them in the brooder...my humidity is staying like 80 with them in there?

Welcome to backyard Chickens!
If you do not see pips in the eggs still in the incubator, take out the hatched chicks. Take a moment to candle the un hatched eggs. I would give them another day or so to see if there are any late hatching chicks.
Remember to open each egg to see why they did not hatch. This will help with the next hatch