Hi there,
Remember that google always seeks to serve the a better user experience.
Technically, the XML sitemap is the one needed for crawlers. And the "human-readable" sitemap is focused on users.
I might be saiyng something obvious, that's the way i've understood it.
The benefit of the "human-readable" sitemap shuld be in the part of user experience, Google might see it that way.
As a visitor, I find usefull that kind of sitemap, it gives you a quick overview of the siite and make your way to the final page faster.
Hope it helps.
GR.