List XML child nodes with names of parent nodes in CSV file

I am trying to take an XML file with multiple children of the same parent and list them into a CSV file with the parent name. I have been unable to find information on data structures similar to this even though it must be out there. The data in XML looks like this:

<CompetencyObject xsi:type="Competency" id="583">
    <name>Competency A </name>
    <children>
      <CompetencyObject xsi:type="Competency" id="819">
        <name>Competency A1</name>
        <children>
          <CompetencyObject xsi:type="Objective" id="939">
            <name>Objective 1</name>
            <children />
          </CompetencyObject>
          <CompetencyObject xsi:type="Objective" id="940">
            <name>Objective 2</name>
            <children />
          </CompetencyObject>
  </children>
   </CompetencyObject>
 </Children>
<CompetencyObject>

There is more in the original data but these are the pieces I need to find. I need to take that and list it like this in CSV.

Competency, Sub-Competency, Objective
Competency A, Competency A1, Objective 1
Competency A, Competency A1, Objective 2
Competency B, Competency B1, Objective 1

I have never worked with XML files in PowerShell before and have tried this but get either a list of all of the competencies without objectives because they are two layers deeper or the objectives but not the parents if I add children.CompetencyObject before the .childnodes. This does not look exactly like I am hoping for but it would be usable if it gave at least the sub-competency. There are only a few top level competencies so they could be added easily enough in the CSV.

[xml]$inputFile = Get-Content "competency_d2l_1.xml"
$inputFile.competency_objects.CompetencyObject.children.CompetencyObject.ChildNodes | Export-Csv "competency_d2l_1.csv" -NoTypeInformation -Delimiter:"," -Encoding:UTF8