Export List of All Documents in SharePoint to Excel

Hello. I am trying to mirror the SharePoint hierarchy in an export query to Excel. I can use the "Export to Excel" feature from the library, but the output sorts the lists by folders and then items. I want to export a list showing folders and each item in that folder. I need this to show our compliance activities, and I figure there has to be an easier way than manual folder-by-folder extraction. Thank you.