Yes, you need only to have an article for each doc at least linked to a menu category, not needed to link each article to a different menu. This is enough to include all Joomla articles links in the sitemap, both HTML and XML.

Adding links to pdf files included in the articles text is a different thing, they are links to file system. In this case a specific plugin should be required to include those files in the sitemap, of course pdf are indexed by Google.

John