Yes all users with the appropriate viewing permissions can get a local copy of any file in the vault. Contributors could check those files out make edits and check the files in. Viewers can only open the the files they would not be able to check out or edit the vaulted versions of the files.
The easiest way to create a link between a drawing and a PDF is to use the paste as reference tool help.solidworks.com/2022/english/enterprisepdm/fileexplorer/t_creating_a_topic_reference.htm
