Network-on-Chip (NoC) is known as a scalable and high performance interconnect in Systems-on-Chip (SoCs) with multiple processing elements (PEs). Recently, the design paradigm of SoCs has shifted from static to dynamic runtime reconfigurable system. In these systems, the PEs can be loaded/unloaded on demand. Therefore, the NoC should be able to adapt as quickly as possible to the changes to maintain the performance of the systems. In this work, we present a non-intrusive runtime reconfigurable time-division-multiplexed circuit-switched NoC, XNoC, which offers the following benefits (1) it switches between different routes within a predictable latency that is strictly determined by the length of the route and the number of time slots; (2) the configuration process can be masked effectively by overlapping with communication and (3) the multi-cast service is supported with aggregate feedback from sink nodes. We propose an XSwitch which requires 3.5X less resource than the conventional switch with similar features. The overall resource cost of XNoC is also smaller than the most known NoC and the clock timing is up to 50% better. We also propose a novel distributed control plane to accelerate the reconfiguration process and to improve the scalability of NoC. The achieved reconfiguration speedup compared to the centralized control unit is up to 7.6X in certain conditions. On average, it takes only 74 clock cycles to activate a 12-hop connection.