User281315223 posted
One option might be to consider using something like
this Sitemap Generator plugin, which I'd imagine that you could install within your browser and run against your locally accessible site to crawl it. Another option, albeit deprecated sounds like it might be exactly what you are looking for.
It looks like Google had a server-side tool available a while back which was a server-side sitemap generator. The project was open-source, so you might be able to leverage it or extend
it a bit to suit your needs.
There are also quite a few options like
this site, which is an online tool for performing what you describe, but I believe that they also provide a php script that you can run to essentially accomplish the same thing locally.