I'm sure you've already found a solution, but just in case I'll answer your question.
It is possible, but the solution is only available with the help of a third-party app Better PDF Exporter (primary app that creates the pdf - will not work without it), Better PDF Automation for Jira (a free plug-in that works with Automation) . It integrates perfectly into Automation.
PS. It is a paid tool.
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