Is there a way to buy a full map of all 5 zones and which transportation takes you where. I would like a physical copy to carry with me.
I don't believe the RATP / Transilien offer physical maps for sale. I think the closest we can do is print our own Paris transit maps say at a local Staples, Kinkos, etc. using their color printers.
Some 3rd party map creators might have some solutions for you like Lonely Planet Paris city map, although I have no personal experience with their maps.