I found the [url=http://silverstripe.org/site-map-module-module/]site map module[/url] by chance and it saved quite a lot of time. Thanks for that!
Here is just one little tweak to use it in Silverstripe 2.4 with nested URLs enabled. In /sitemapmodule/code/SiteMapModule.php change
This code snippet needs to be changed in two places, in makeList() and in makeChildList().
Thanks for this very useful module!