I just started taking care of a Wordpress site that uses the Gtranslate (https://gtranslate.io/) plugin for translations and AIOSEO for META tags, sitemaps, etc. For those who don't know, the way GTranslate works (at least in the Enterprise plan we have) is that the multilingual versions of our site (/en/
, /fr/
, etc.) aren't stored in our server, but in GTranslate's cloud and served dynamically. The process is transparent for the user.
Anyway, what this means is that AIOSEO doesn't support GTranslate, so the XML sitemaps that it generates don't include the alternative language pages ("/fr/blabla/", "/en/thisandthat/", etc.). Neverthless, they appear in Google Search Console as indexed.
GTranslate's support claims that alternative XML sitemaps aren't really necessary (https://gtranslate.io/forum/xml-sitemap-and-hreflang-t5025.html):
I wouldn't suggest playing with hreflang. Please read all the documentation available from Google. It may cause SEO issues if used incorrectly. We do not translate xml sitemaps and other XML documents. There is no need to create sitemap.xml for translated languages. You can create sitemap.html page like on oue website and submit the URL to search engines.
What I am wondering then: is this really true? My site has around 30-40 pages, so I don't think I am at risk of some page being missed by Googlebot. I am just wondering if Google can really penalize you for not having a sitemap, even if it eventually finds the page.