Sometime you want to remove certain urls or path from sitemap.xml to improve seo of you website.

config.toml

[params]
    sitemap_filter = [ '/pages/', "/categories/"]

Next lets customize theme/layout/_default/sitemap.xml the based on reference code from(here)[https://gohugo.io/templates/sitemap-template/]

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{{ printf "<?xml version=\"1.0\" encoding=\"utf-8\" standalone=\"yes\"?>" | safeHTML }}
<urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9"
  xmlns:xhtml="http://www.w3.org/1999/xhtml">
  {{ range $page := .Data.Pages }}
    {{- $incldueURL := true -}}
    {{- range $val :=  $.Site.Params.sitemap_filter -}}
        {{- if (strings.Contains $page.Permalink $val ) -}}
            {{- $incldueURL = false -}}
        {{- end -}}
    {{- end -}}
    {{- if and .Permalink $incldueURL -}}
  <url>
    <loc>{{ .Permalink }}</loc>{{ if not .Lastmod.IsZero }}
    <lastmod>{{ safeHTML ( .Lastmod.Format "2006-01-02T15:04:05-07:00" ) }}</lastmod>{{ end }}{{ with .Sitemap.ChangeFreq }}
    <changefreq>{{ . }}</changefreq>{{ end }}{{ if ge .Sitemap.Priority 0.0 }}
    <priority>{{ .Sitemap.Priority }}</priority>{{ end }}{{ if .IsTranslated }}{{ range .Translations }}
    <xhtml:link
                rel="alternate"
                hreflang="{{ .Language.Lang }}"
                href="{{ .Permalink }}"
                />{{ end }}
    <xhtml:link
                rel="alternate"
                hreflang="{{ .Language.Lang }}"
                href="{{ .Permalink }}"
                />{{ end }}
  </url>
    {{- end -}}
  {{ end }}
</urlset>