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Interesting finding here, this works if I use OpaqueFunction as my on_exit action. This will for for my needs, but I still find it odd that these other actions work but ExecuteProcess does not.

from launch import LaunchDescription
from launch.actions import ExecuteProcess, LogInfo, OpaqueFunction


def exit_process_function(_launch_context):
    """Print something."""
    print('exit_process_function() called')


def generate_launch_description():
    """Launch the thing."""

    return LaunchDescription([
        ExecuteProcess(
            cmd=['sleep', '5'],
            log_cmd=True,
            sigterm_timeout='0',
            sigkill_timeout='0',
            on_exit=[
                OpaqueFunction(
                    function=exit_process_function
                ),
                LogInfo(msg='This message prints properly.')
            ]
        )
    ])

Output:

✔  14:13 ~ # ros2 launch test_package test_launch.py 
[INFO] [launch]: All log files can be found below <redacted>
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [sleep-1]: process details: cmd=[sleep, 5], cwd='None', custom_env?=False
[INFO] [sleep-1]: process started with pid [21809]
[INFO] [sleep-1]: process has finished cleanly [pid 21809]
exit_process_function() called
[INFO] [launch.user]: This message prints properly.
✔  14:13 ~ # ros2 launch test_package test_launch.py 
[INFO] [launch]: All log files can be found below <redacted>
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [sleep-1]: process details: cmd=[sleep, 5], cwd='None', custom_env?=False
[INFO] [sleep-1]: process started with pid [21847]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ERROR] [sleep-1]: process has died [pid 21847, exit code -2, cmd 'sleep 5'].
exit_process_function() called
[INFO] [launch.user]: This message prints properly.