It should be fairly simple to use the sitemap.xml file and do a search and replace for multiple things.
It is trivial if you have a spreadsheet.
Remove all lines which contain <lastmod>
Remove all lines which contain <changefreq>
Remove all lines which contain <priority>
Search for <url> replace with <li>
Search for </url> replace with </li>
Search for <loc> replace with <a href=">
Search for </loc> replace with ">sometext</a>
In a spreadsheet, you can write a formula which copies the url again into the location which says "sometext" and be done. Otherwise, you need to find a way to put a descriptive, useful title into that location.
Once you have done that, you can simply add <ul> at the top and </ul> at the bottom of the list of urls and remove everthing else, format the page the way you want it to look, split it into ten or twelve pages with a navigation system (try to keep less than 100 links per page) and you should be done.