A HTML sitemap can be useful for getting your site indexed and the XML one can also help with indexation but there are no guarantees that pages in the XML sitemap will be indexed. I read an article on here showing the indexation benefits of a sitemap and google have stated that they like you to have a HTML one for users as well as SEO so... it's like one of those 1% things, it may help a little bit, and it can't hurt but you still have to do everything else right.
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