Note: Not a solution but marked as such to elevate a key reply
Asana2Go (disclaimer: I’m the creator) has an easy way to create a CSV that includes the task URL automatically (choose CSV - Detailed). With Asana2Go, there’s a way to get those CSV row into either Excel or GSheets without even creating a file! See the Help link in the main Asana2Go window.
But there are around 20 other outputs (lists, tables, etc.) that may be more appropriate for your purpose, @Katie_Dix.