I was pleasantly surprised to see the Navigation component of Zend Framework 2 includes a bunch of view helpers, including a Sitemap helper. So now I have an xml sitemap created by Zend Framework 2 that works hand in hand with the site navigation. However, the documentation was not complete as of this writing and caused me to do a bit of trial and error debugging to get it working. Below I will post how I got it working, in hopes it will help others.
The code to get it working is relatively simple - set it up in the module configuration, specify the navigation structure and add a route for the sitemap output. The view then accesses the navigation handling and calls a "sitemap" method to push the XML result out to the user.