how to dynamically create custom xml sitemap

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I basically want to dynamically create custom sitemaps for my post type urls. I’m currently using yoast, but I’m open to trying out alternatives. My urls are currently like this…

e.g  www.mysite.com/used-cars/location/paris/model/bmw-m3

                     &

     www.mysite.com/used-cars/model/bmw-m3

I want to have all these kind of urls in a loop, then push them into a sitemap. I cant seem to find documentation on Google for this.