This tool called Androguard may help you, especially the axml command.
To install Androguard: install Python (preferably Python 3.8) if its not installed, then run this command in a terminal:
pip install androguard
If it fails, it's because Androguard is not compatible with Python 3.10 or greater (I haven't tested on Python 3.9) so just install Python 3.8 and run:
python3.8 -m pip install androguard
From now, you should be able to run the command `androguard --help`
If the command fails as not found, try re executing the last command you ran in an terminal with administrator privileges.
BTW, axml is a specific parser for AndroidManifest.xml file, so it should work 99% of the time.
Hope it helped !