Today one would need the diplexer (written with "i") when he/she/it wants to use duplex (written with "u") mode operation with the handheld transceiver.
You have one single "multiband antennna" (2, 3, 4 etc. bands in one single antenna, one connector) and the diplexer inside the radio separates the signals based on the frequency (none switching involved), while you receive and transmit at the same time "cross-band".
This mode is used rarely in HAM world, however, therefore there is only a couple of TRXes with this functionality on the market (the most expensive ones).
For a dual band antenna in a "simplex" mode you would not need diplexer or switch.
As it has been indicated above, there are dozens of various types of "multiband antennas" for VHF/UHF bands available either for purchase or as a DIY build. It is rather broad and difficult area to elaborate here, you would need to search and study a lot.. Best is to use a commercial multiband antenna for the bands of interest. Most of them are fakes (those for $3-$10), but there are genuine ones still available.
73
PS: I own the handheld which can do full duplex, and I made only 2 single QSOs ever, as an experiment with other HAM who had the appropriate equipment, where we did it as an experiment, it worked nice, I have to admit.. You have to check your local regulation btw., not everywhere is the duplex as well as simplex "cross-band" allowed by the authorities, imho..
HAM operators on this bands use simplex only, thus unless you would organize and prepare such a QSO in advance you will not be lucky with the duplex mode..
There is one exception - the HAM communication over LEO satellites, where it could be used (if allowed by the local authorities). But for that you would need multi-element Yagi antennas, with circular polarization, usually one Yagi for a band (ie. 70cm uplink and 2m downlink or vice versa), both Yagis mounted on a single boom (like "X").