Unclean link URL’s for tag navigation

When displaying the list of posts tagged with any tag, the navigational links between the posts are ‘unclean’ URL’s

Examples:
https://www.roganty.co.uk/blog/tag/blog/ This is the first page
https://www.roganty.co.uk/blog/page/2/?tag=blog%2F This is the second page
https://www.roganty.co.uk/blog/?tag=blog%2F And this goes back to the first page

It happens with any tag archive page that goes over more than 1 page https://www.roganty.co.uk/blog/tag/

The code I’m using for the navigation links is

<div class="navigation">
<div class="alignleft"><?php posts_nav_link('','','&laquo; Previous Entries') ?></div>
<div class="alignright"><?php posts_nav_link('','Next Entries &raquo;','') ?></div>
</div>

Which is the same code on the category archive, and date archive pages.

I have disabled the canonical redirection functionality as it was breaking my blog

I just want to know if anyone else has had this problem, and if there is a fix.

Thanks for your help