Is there any tool that exists that will convert an XML sitemap to a visual sitemap? I’m thinking maybe not.
Also, can anyone recommend their favorite sitemap visualization tool? Preferably free?
No, there is no such efficient tool for this. You have to create it manually.
You can apply an XSL file to transform it something HTML/CSS/visual for humans (but depends on what you mean by visual)
Something like this do you mean? -= PowerMapper.com - Website Testing and Site Mapping Tools