If any kind of md5anim to xaf conversion is even doable, it would be export of 3D content from ID Tech 4 game engine (DOOM3) to a XAF animation format.
We have not found any particular information or use for such export, except that it should be doable in the sense that IDTech files can be imported to many 3D modeling tools (either natively or with a plugin) and so there is always chance for export to another format, or to at least reuse the content.
Updated: November 1, 2023