Does a ADC output a PAM signal?
Sampling and quantization are two entirely separate concepts that you seem to be somehow conflating.

If you sample a continuous-time signal without quantizing it, you do indeed end up with a PAM signal. But it is not a digital signal.

An ADC both samples its input signal and then converts the amplitude of each analog pulse to a digital word. The word is a quantized measurement of the pulse amplitude.

A DAC can convert that sequence of words back into a series of analog pulses (PAM signal again, but still quantized), and this must be followed by a "reconstruction filter" (e.g., low-pass filter, sometimes included in the DAC itself) in order to get a continuous-time signal that closely approximates the original.