If anyone is experiencing this issue like me, you can manually change the date on your phone to 12/31/23, then open your Wear app, manually update your watch, and then change the date back to automatic. Should fix it!
The date change fix works if you only have one watch but it still won't auto switch if you have two, at least it kept breaking for me. I ended up having to uninstall the wearable app, reset both of my watches, and then resync them to my phone for switching to work.