Change language dynamically CI 4.4.6

I am using the following code:
In the top navigation, I have a dropdown menu:

Code:

<ul aria-labelledby="dropdownSubMenu1" class="dropdown-menu border-0 shadow">
     <li><a href="<?= base_url(); ?>/lang/set_language/en/<?= str_replace('/', '~', current_url()); ?>" class="dropdown-item"><?=lang('Language.English')?> </a></li>
     <li><a href="<?= base_url(); ?>/lang/set_language/nl/<?= str_replace('/', '~', current_url()); ?>" class="dropdown-item"><?=lang('Language.Dutch')?> </a></li>
</ul>

I have a controller in a folder language with the following code to set the language:

PHP Code:

public function set_language()
    {
        // Get the language id
        $uri = current_url(true);
        $total = $uri->getTotalSegments();
        // get the language id
        $id = $uri->getSegment($total-1);

        // Get the url to go to after this
        $redirect = str_replace ("~", "/", $uri->getSegment($total));
        $session = session();
        $session->remove('language');
        $session->set('language', $id);
        return redirect()->to($redirect);
    } 


This changes the language without changing the url.