After trying two other XML Sitemap plugins without success, I found this one and gave it a go. It took me around 3 minutes to configure (I am using it on a site which uses WordPress mainly as a CMS with a blogging section), and I found none of the options in the settings confusing. After configuring it, I generated the sitemap, and everything worked just as I expected and hoped for!
I can honestly say that this plugin fully satisfied all of my needs without being overwhelming or confusing. Goldilocks-quality software.