Which module can create a sitemap based on entity reference rather than menus? Does a module exist that creates a sitemap based on entity reference rather than menus?

The site I am currently working on has it content linked using entity reference rather than using Drupal menus. The reason it has been done like this is because content can fall into multiple categories. But now I am facing the issue of generating a sitemap. Is there anyway to do this? Can it be done using Views maybe?
With the XML Sitemap module, the main alternate to menu-based sitemaps, is the XML Sitemap Node submodule.  

Enable the sub-module, then edit each content type.  There should be an XML Sitemap tab at the bottom of the form.  Set the inclusion and priority as needed.  An advantage of this, over using menu-based sitemaps, is that modified times will end up in sitemap.xml