Some programs can simply export XPS documents to JPG pictures that will look exactly the same as the pages in the file. If there were more pages in the document, each will be saved as individual JPG picture.
Convert XML paper specification to JPEG bitmap image format.
We found 3 software records in the database related to .xps to .jpeg file format conversion.
Microsoft Windows software - convert xps to jpeg on Windows
A free XPS to JPG converter
Convert from xps file format
The tables with software actions are a good pointer for what a certain program does with various file types and often may give users a good hint how to perform certain file conversion, for example the above-mentioned xps to jpeg. However, it is not perfect and sometimes can show results which are not really usable because of how certain programs work with files and the possible conversion is thus actually not possible at all.
A converter for XPS format
Apple macOS / Mac OS X software - convert xps to jpeg on OS X
An XPS and OXPS viewer for Mac