add_filter( "aioseo_sitemap_post", "aioseo_filter_sitemap_post", 10, 2 );

function aioseo_filter_sitemap_post( $entry, $postId ) {

	if ( 10 === $postId ) {

		// Set the language code for the main URL.

        $entry['language']  = 'en_US'

		// Add the translated versions (language code + URL).

		$entry['languages'] = [

			[

				'language' => 'en_CA'

				'location' => 'https://example.com/ca/page

			],

			[

				'language' => 'en_UK'

				'location' => 'https://example.com/uk/page

			]

		];

	}

	return $entry;

}