There are many people living in Palestine, it’s important not to generalize them all as having the same will.

But for Hamas (which holds a majority of the seats in the PA), the answer is unambiguously yes. Their charter explicitly calls for the eradication of Israel, and also of all Jews. Their actions confirm their intent. They are popular and irredeemable.

More generally, a common phrase among Palestinians is “from the river to the sea.” There are varying interpretations of this phrase, and its exact meaning, so not everybody who says it means that Israel should be razed off the map, but it likely includes at least a “right of return” for not only Palestinian refugees, but their descendants (who are often confoundingly referred to as refugees themselves). This influx of millions of Arabs into Israel—a democracy—would make it impossible for Israel to function as a safe haven for the Jewish people. That is intentional.

There are a couple of youtube channels going around just asking people questions. Different people have different perspectives. But by and large, Palestinians are not willing to accept current borders, or 1967 borders, or the UN’s proposed borders from the 1940s, or any such thing without other concessions that would seriously damage Israel.