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As it so happens, I was able to reproduce this. I didn't change anything else but set a forum to the index page route and got:

[code]

    <url><loc>http://localhost/xenforo2/</loc></url>

    <url><loc>http://localhost/xenforo2/categories/main-category.1/</loc></url>

    <url><loc>http://localhost/xenforo2/</loc></url>[/code]

So this is fixed now.