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I find that most users don't view sitemaps and that they are mostly used by search engines. BUT, typically what I would do, is have an HTML sitemap that is in the footer of the web page, because that is where most users who actually use them would look. I would also have an XML sitemap that is pointed to in my robots.txt file. The search engines will most likely hit both but specifying the XML sitemap in robots.txt ensures that the search engines know what they are looking at.
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