They've pretty explicitly been aiming for a Palestinian state in the territories occupied since 1967. And not just recently, proposals for a permanent ceasefire (which sets the first steps towards recognition and normalization of relations) with Israel under these conditions go back to 1999. Conveniently, both Israel and the US didn't find it necessary to respond.
If by PA you mean Palestinian Authority, while they seem to have been spineless, how is Hamas taking foreign civilian hostages with no dog in the race promote Palestinian cause? What is your opinion on October 7 attack?