Network Diagram from NMAP Scan results

I have Pfsense (SG-1100 running 23.09) and a growing homelab behind it. Are there any free tools that can take nmap scans and produce accurate network diagrams? I have a basic understanding of draw.io and also have Excel and Visio available to me.

My friend Kelvin did this a while ago, but I still use do my map manually.

Thanks. I’ll give it a try