Note that you'd have to somehow go through and download the files in bulk— in the same way that people read a batch of csv files in from a folder. With Google native formats, you have to export them to something else, see:
We can download files from Google Drive. Native Google file types (such as Google Documents, Google Sheets, Google Slides, etc.) need to be exported to some conventional file type. There are reasonable defaults or you can specify this explicitly via
typeor implicitly via the file extension inpath.
So, in terms of your broader question, can you download the full contents with a URL, it depends…but there's not a built-in mechanism to do so.