Is there a way to get the bank of drum sounds from my Boss DR-202 and save or upload them so I can play them in CWMC 4 and use them for drum tracks in MIDI? 

One way would be to record each sound during playback, edit the sounds so each sound has it's own waveform, use Sforzando or another sampler to create a Boss DR-202 Soundfont and use Sforzando or another sampler to playback the samples on demand.
 
Lucky for you Soundpaks.com already recorded some DR-202 audio samples.  They are available here:  https://soundpacks.com/fr.../boss-dr-202-drum-kit/

IOW, you have to sample the sounds into wav files and create a virtual instrument or sound set for Kontakt or other sample player.
 
In your case someone may have done it already. Google Boss DR 202 samples.