Non-canonical URLs in Sitemap: best practice?

Hi all,

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I'm working on our technical SEO and came across an error while doing a SEMrush site audit.

We have non-canonical URLs in our sitemap. It's due to our FAQ: multiple frequently asked questions are in different categories. So we have like 4 pages with the same content, and marked 1 as canonical to the rest.

Should we remove the non-canonical URLs from the sitemap? Or keep them in. Running into contradicting information on this.