Many people understimate the importance of a well structured Sitemap. Its great that you have a XML Sitemap.

I almost always recommend having the sitemap in the homepage, preferably on the footer. I have seen this as a trend in many "well ranked websites". So i am guessing if the sitemap is well structured, it shouldnt hurt to include it on the footer. Its a matter of usability for the webpage visitor.

I am not aware of the "ranking impact" of not including it in the footer. I am guessing that as long as it gets crawled it doesnt matter where you put it.

Hope this helps!!

Thanks for sharing your question