Ok, I was able to adjust the variables to produce something I want.
Can you explain:

1. The doc says: "the vertical distance, measured in staff-spaces" -
what is staff space as a unit of measurement?

2. A lot of space appears if there is no markup between the blocks. Is
it possible to suppress it?
\version "2.22.1"

\paper {
  tagline = ""
  indent = 4\cm
  markup-system-spacing =
    #'((basic-distance . 2)
       (minimum-distance . 2)
       (padding . 2)
       (stretchability . 1))
  score-markup-spacing =
    #'((basic-distance . 2)
       (minimum-distance . 2)
       (padding . 7)
       (stretchability . 1))
  system-system-spacing =
    #'((basic-distance . 2)
       (minimum-distance . 5)
       (padding . 5)
       (stretchability . 1))
  print-page-number = ##f
  #(include-special-characters)
}

\layout {
  \autoPageBreaksOff
  indent = 0\in
  \context {
    \Staff
    \remove "Time_signature_engraver"
    \override VerticalAxisGroup.staff-staff-spacing.padding = 5
    % \override VerticalAxisGroup.staff-staff-spacing.stretchability = 0
  }
  \context {
    \Score
    \remove "Bar_number_engraver"
  }
}

ex =
#(define-void-function (title) (markup?)
  (add-score #{
\score {
  \layout {
    system-count = 2
  }
  \new PianoStaff
  <<
    \new Staff { \repeat unfold 2 s1 }
    \new Staff { \clef bass \repeat unfold 2 s1 }
  >>
           } #} ))

\markup {
  \bold{ &numero; 1, chapter 10 }
}
\markup {
  Scale: C-dur
}
\ex "First exercise: Scales and stuff"
\markup {
  \bold{ &numero; 2, chapter 10 }
}
\markup {
  Scale: d-moll
}
\ex "Second exercise: Triads and so on"

\markup {
  \bold{ &numero; 3, chapter 10 }
}
\markup {
  Scale: d-moll
}

\ex "Third exercise"

\pageBreak
\markup {
  \bold{ &numero; 4, chapter 10 }
}
\markup {
  Scale: d-moll
}

\ex "Fourth exercise"

\ex "Fifth exercise"

\ex "Sixth exercise"

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