Just a quick addition:
If you need to access a child node which contains a dash, you need to encapsulate it with {""}.
For example:
<?php
foreach ($domain->domain-listing as $product) {
}
?>
The example above doesn't work because of the dash. But instead you need to use:
<?php
foreach ($domain->{"domain-listing"} as $product) {
}
?>
At least for me the second example works perfectly fine.