Hello, is there a way to make physical satoshis in a trust less or trust minimized way. I am thinking a piece of paper with a QR code that you scan and get the amount into your lightning wallet. Is this possible?
Any physical item meant to securely transfer sats between people will always be less secure (and more difficult to use) than using Bitcoin proper.
With that warning out of the way, this is the best implementation of this terrible idea I've seen so far: https://offline.cash/
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There's a Portuguese project exactly like that: https://papersats.pt/
The site is still in beta, but I already had some bills in hand, and was able to trade one for satoshis in a bitcoin meetup, proving the concept works.
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Yes, it is possible.
You can setup an NFC card(and a QR code) that when scanned you get sats from a source.
The Bolt Card is one of the best examples of doing this.
Also the software for managing the bolt cards themselves (the wallets with the funds) is also open source, available here
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I’m thinking more along the lines of something on the lightning network
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These are the specifications for LNURL: https://github.com/fiatjaf/lnurl-rfc I think you're talking about a LNURL-WITHDRAW request: https://github.com/fiatjaf/lnurl-rfc/blob/luds/03.md
In any case, there is the basic problem of being offline with the Lightning Network which this post: #77191 is a good read for a potential mitigation to that problem.
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You could use https://ln.cash/ and print the QR. #76182
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One tool to help with that is called a submarine swap:
Boltz uses submarine swaps:
But I don't know of any way to do a submarine swap starting with just a private key or a seed phrase. You could combine the sweeping of a private key using something like Samourai wallet (which can scan a QR code), and then sweep those funds to the address provided by Boltz (which will do the submarine swap that pays the invoice from your LN wallet.

Now you specifically referenced "trust less or trust minimized way". That does not describe the methods listed in the following post, but that post does show other convenient methods for transferring bitcoin via LN:
Various methods for gifting bitcoin where funds for unclaimed gift are returned #76534
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