Can Vex code VR be used for programming physical robots?

I’m looking to see if you can use Vex code VR to program a physical robot, as I cant find anything to assign motor to drive chains or anything of the sorts, and am just wondering if it’s even possible.

It’s not possible. You might want to look into the Python and block programming options contained in Robot Mesh Studio and VEXcode instead (both of which are also free).