Can you get to the human world in Pokemon Mystery Dungeons: Gates to Infinity or remain in Pokemon Paradise?

Question

I'm two paradise ranks from perfect and I'm in the process of finding the Legendaries. I want to know if you ever actually swap between the worlds like your partner wished.

Comments

I accidentally double asked but I changed my phrasing to be more specific on the second one. Sorry! f(-_-") btw thanks to the user sumwun for editing I was so worried but you're a lifesaver!