If you are using SlimSeo plugin it automatically add all posts and taxonomies into sitemap.xml file. This snippet allows you to exclude some post types and taxonomies from sitemap file.
add_filter( 'slim_seo_sitemap_post_types', function( $post_types ) {
    $post_types = array_diff( $post_types, ['help','slider']  );
    return $post_types;
} );
add_filter( 'slim_seo_sitemap_taxonomies', function( $taxonomies ) {
    $taxonomies = array_diff( $taxonomies, ['category'] );
    return $taxonomies;
} );In this snippet above from sitemaps file will exclude ‘help’ and ‘slider’ post type, and ‘category’ taxonomy.