Here's a NIST mapping crosswalk between the HIPAA requirements and NIST SP 800-53r5 in a spreadsheet format.
I reworked the information from the initial public draft into a spreadsheet that also allows easy importing into different tools. Additionally, I included a direct NIST map, essentially reversing the look-up. Finally, all control IDs are now two digits which allows for proper sorting and lookups with tools inside arrays.
Here's a snapshot of the format (click to view):