Waystones2Waypoints
This mod replicates the JourneyMap functionality built into BlayTheNinth's Waystones addon, but adapted for Xaero's Minimap. Both modifications are required for the mod to work.
Immediately after activating a waystone for the first time (whether player-placed, world-generated, located in a village, or one you place yourself), a waypoint will appear on Xaero's Minimap. It will be marked with the "W" symbol, the name of the waypoint, and a randomly selected color.
The functionality can be disabled through configuration settings.
Visual examples:

The mod also supports Xaero's World Map (currently only available on Minecraft Forums):
