From CRM 2016 SP1 release, Microsoft has been support for sitemap editor, if you have to use xrm tool box in previous version. You can use it now, these are few steps to use it for on premise version.
Step 1: Creating 1 new solution, select client exntension and add site map to your solution

Add site map to your solution
Step 2: Select and click on Edit to modify your site map.

Site map editor application
In fact, the site map application can use for other purpose, you can use it to create applications for specific roles, user…specifying the form, entity, dashboard…which you want users to see…

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