We use Yoast on WordPress website and it generates a https://www.website.com/page-sitemap.xml, arranged base on the last date of modification.
Do we need to have arranged it base on our navigation menu?
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No. Order does not matter in a sitemap.
Q: Does position of a URL in a Sitemap influence its use?
No. The position of a URL in the Sitemap is not likely to impact how it is used or regarded by search engines.
the order in the sitemap file doesn't matter at all.
(John Mueller, Google Employee)