Node.js Express v5 generate sitemap with all registered routes

I need some help… I have code like below:

main/index.js

const express = require('express');
const router = express.Router();
router.get("https://stackoverflow.com/", (req, res) => {});
router.get('/p1', (req, res) => {});
router.get('/p2', (req, res) => {});
router.use('/temp', require('./temp'));

also main/temp/index.js:

const express = require('express');
const router = express.Router();
router.get("https://stackoverflow.com/", (req, res) => {});
router.get('/t1', (req, res) => {});
router.get('/t2', (req, res) => {});

How to get list of all routes in express v5 without change use+require ?