Hi Tim-
I would say a servlet would probably be best unless you want to also provide
also a site map within your site structure. Meaning, a page that people could
visit to see an html version of the site map. This would allow you to use a
model class if that is what you prefer. From there I
Have you considered using the Google Sitemap module?
https://documentation.magnolia-cms.com/display/DOCS/Google+Sitemap+module
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Context is everything:
http://forum.magnolia-cms.com/forum/thread.html?threadId=df4eb7cf-7314-4126-91ef-bb018f23d661