All URLs is a drop-in script for WordPress that gives you a list of all your public posts and terms. This includes posts, pages, custom post types, tags, categories and custom taxonomies. It also works with WPML.
Put index.php in a subfolder of your WordPress root directory. Then open it in your browser.
When you are done with it it's probably a good idea to delete it from your production server. The links displayed are all public, so it's not a security matter, but you probably don't want Google to index it.
If there is demand for it, I'd love to. Post or upvote an issue to let me know.
If you want a sitemap, get a sitemap. Could a sitemap do the same job? Perhaps.