You can try my cli tool xmq (https://libxmq.org) to pretty print and syntax highlight XML and HTML. Note that it renders the XML/HTML/JSON in the XMQ format which is easier to read and edit. There is however a 1-1 mapping between XMQ and XML. The tool is very useful for analyzing large xml and html files.
The xmq tool also includes a pager for the terminal:
xmq xmlfile.xml page
The tool can also render into a temporary html file which is automatically viewed in your default browser:
xmq xmlfile.xml browse
It picks the color scheme from your terminals background color (light or dark), but you can override it:
XMQ_BG=dark xmq xmlfile.xml browse
XMQ_BG=light xmq xmlfile.xml browse
It works in a pipeline as well:
curl https://slashdot.org | xmq delete //script delete //style page
Apart from deleting xpath matched nodes, there are other commands to convert to and from xmq/xml/html/json and apply transformations to the content.