Well there's XProc. But as with everything XML - you shouldn't really edit it by hand without proper editor support at the very least (preferably DTD/XML Schema aware).
I understand XML has namespaces, but I'm not sure what "edit by hand" means in this context. The tools I found previously were xqilla and xmlstarlet, but they seem pretty old and just not as convienient as Jq.
I still think there is space for an XML cli tool that is more convenient for the majority of common tasks working with XML, at simply treating the data as a hierarchical structure, without requiring an interface that is full fully-qualified/needs XSLT/etc..
