As described on http://drupal.org/node/891372 I have some menus using the Menu Firstchild module and XML Sitemap generated a wrong line : http://example.com/%3Cfirstchild%3E.
I had to disable my menus from XML Sitemap.

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Anonymous (not verified) CreditAttribution: Anonymous commented
Category: bug » support
Status: Active » Postponed (maintainer needs more info)

If I understand the purpose of the module, you menu item contains <firstchild>, is that correct? And then the menu_firstchild module uses a hook_menu_link_alter to alter the link for the menu item. This is a catch 22, in my opinion; I'm not sure either module can help you out here. I haven't used xmlsitemap_menu or looked at its code. At some point it is my intention to try but I do not see that happening anytime soon.