rq: Universal convertor between structured data (JSON, MessagePack, CBOR, etc.)
github.com
github.com
That said I also don't really want the thing that does that to reinvent the wheel, jq's syntax may be annoying but at this point it's "won" really and "different query language + all the formats" is just an awkward niche to fill.
But seriously, XML is such a nightmare to parse that it might not even make sense to try.
[0] shameless plug: https://github.com/queer/utt