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I noticed that the removal script works fine if I've just inserted the yubikey, however if I remove it after logging in, or authenticating with sudo, it is not detected. I was able to solve this by monitoring the removal action after authenticating and finding a unique field I could use in the udev rule.
The field I used for the Yubikey 5C is PRODUCT=1050/407/512.
To view fields associated with each action, run udevadm monitor --property and watch for the remove actions.