I had similar requirements, as I want to run "drush test-run" from within vim and get the results traversable in vim.
So I started a small and rough project https://github.com/DirkR/junitlog2vim. It takes the xml results file and generates line by line report. The script junitlog2vim.py requires python3.
As a convenience I created a Makefile. It takes the optional arguments "CASE" and "METHODS" to define the proper arguments for "drush test-run" and it has sensible defaults. You only have to provide an argument SITE_ALIAS or edit the Makefile.
if you run
make SITE_ALIAS=@mysite CASE=MyTestCase
then you get linewise error report with filename, line number and error message.
I hope it helps. Feel free to hack or adopt it.