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There is also yq [1], which attempts the same for yaml, toml and xml. (And confusingly also contains a binary named "xq" for querying xml, however with a different syntax)
Shoutout to my go-to: https://github.com/EricChiang/pup#readme (also golang) and my 2nd favorite https://xmlstar.sourceforge.net/
It seems to be a problem with that backing xmlquery library, and I did a quick GitHub topics search and found https://github.com/zzossig/rabbit which claimed to be XPath 3, but then https://github.com/zzossig/rabbit#what-is-not-supported says "lol, namespaces, wat?" so :-(
Yeah, 234 forks is not a good look, but that said `brew install -s pup` with `go version go1.19.3 darwin/amd64` reports a-ok so I'd guess it just doesn't have a `go.mod` like normal go developers are used to, and that's why the brew formula moves it into the old style GOPATH setup: https://github.com/Homebrew/homebrew-core/blob/HEAD/Formula/...