Don't think so. The routes.ini
defines abstract routes... For example if you have a slug in a route (or a category) that will change on different pages with almost the same route:
/home/default/view/page_name1
/home/default/view/page_name2
are two different entities in the sitemap.xml
and at the same time routes.ini
does not make a distinction between to two.
So it really depends on your site structure & functionaloty.
I don't think that there is such a tool that will do this automatically for you.