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I think I might finally have it working. If someone has a more elegant way to handle the index, tag and category I would love to see it!

        <!-- entry -->
        {% if entry is defined %}

            {% for siteForEntry in entry.getSupportedSites %}

                {% set site = craft.app.getSites.getSiteById(siteForEntry.siteId) %}

                {% if site.id != entry.siteId %}

                    {% set entryForOtherSite = craft.entries.id(entry.id).site(site).one() %}

                    {% if entryForOtherSite is not null %}

                        <li><a href="{{ entryForOtherSite.getUrl() }}">{{ site.name }}</a></li>

                    {% endif %}

                {% endif %}
                   
            {% endfor %}

        <!-- category -->
        {% elseif category is defined %}

            {% set currentSite = craft.app.sites.currentSite %}

            {% set sites = craft.app.sites.getAllSites() %}

            {% for site in sites %}

                {% if site.id != currentSite.id %}

                    <li><a href="{{ site.baseUrl }}blog/category/{{craft.request.getLastSegment()}}">{{ site.name }}</a></li>

                {% endif %}

            {% endfor %}

        <!-- index and tags -->
        {% else %}

            {% set currentSite = craft.app.sites.currentSite %}

            {% set sites = craft.app.sites.getAllSites() %}

            {% for site in sites %}

                {% if site.id != currentSite.id %}

                    <li><a href="{{ site.baseUrl }}{% for segment in craft.request.getSegments() %}{{segment}}/{% endfor %}">{{ site.name }}</a></li>

                {% endif %}
                
            {% endfor %}

        {% endif %}