Imagine calling something a true decentralize and it's physical, what do you think will happen next? It will be a total mess because the government will sit their asses on it, and ruined it for all those who believed in it.
Bitcoin was able to do well with decentralization because it's running on the internet through the blockchain and it's not a physical object.
You should be thankful that this was how Bitcoin was created, and it's why Bitcoin survived this long.
I think it's quite important to remember that we are not going to get around to finding a simple way of doing this, it would be digital forever because that's a lot better method and we should be happy about it, there is nothing wrong with bitcoin being digital. If we were to ever make it like out of paper, which is doable by the way if you want to do it, you can print paper versions of it, then it would make sense in theory and you can do it but how much would it make sense?
The only reason I can see this is to pay a place that accepts crypto without spending a fee, you print it on some paper, and give the rights and keys on that paper, so if someone asks you to pay 10 bucks in crypto, you give it to them and it would benefit face to face, that's it, nothing more.