Will we lose points if we print out our digital notebook and submit it in a binder?
Clearly you have not looked at the “guide to judging” and especially the scoring rubric on page 38, which would answer your question. Here’s a link: https://roboticseducation.org/documents/2023/06/guide-to-judging.pdf/
Typically, when you register for an event, you will know if physical or digital submission of the notebook is required. If you need a physical notebook, then you must print it out and turn it in on paper.
If your team uses a digital notebook but is going to a competition with in-person judging (including notebooks) you are supposed to print it. Most teams do put it in a binder. There used to be a 5-point bonus for using a bound notebook, but it is no longer a part of the rubric. Maybe that is where your question stems from.