Yes, I would recommend linking your bank account to PayPal, but follow the tips in this video about that. Then you can simply transfer money from PayPal to that bank, and from there you can use any debit card you typically use. Another option is to get a PayPal MasterCard (debit) so that you can use that to spend cash directly out of your PayPal account and earn cash-back. Another option is that, yes, you can transfer money from PayPal directly to a debit card. All of these options are covered in this PayPal documentation.
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