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I use DYNO Mapper exclusively. It is the best dynamic Sitemap Generator that I have used so far. I have used powermapper & slickplan in the past, but I like DYNO Mapper because it has some cool extra features like content audits capability and inventory display. It is also integrated with Google Analytics and displays this data on each page of the sitemap.
You should try DYNO Mapper. It is a visual sitemap genreator that is good for mapping websites that are up to 25,000 pages. It is a paid tool, but their rates are pretty affordable. It generates sitemaps that include Google Analytics integration, content audit tools, and collaboration tools.
DYNO Mapper is great at visualizing a website's structure. It is the best Sitemap Generator that I have used because it also performs a content audit and includes Google Analytics integration. It's pretty sweet how you can sort and filter pages based on Google Analytics metrics. If you are looking for a great discovery and planning tool I would give it a try.