A good sits right after the heading or introduction, usually spans 2 to 4 sentences or 40 to 80 words, and answers the main question. It delivers an answer instead of an empty announcement and is understandable on its own.
A TL;DR provides the most important conclusion immediately. A mere announcement such as In this article you will learn everything important about XML sitemaps is weak. A concrete statement that answers the question directly and names key limitations is stronger.
A TL;DR improves scannability and can increase for search engines and AI systems when it is accurate, specific and verifiable. It is not a citation hack, however, and guarantees neither a nor an AI mention. Not every text needs a TL;DR; it is most useful for long, complex or decision-relevant content.