does 2042 have pick up weapons?

You can swap gun from dead players yes. Most of them will be PP29 though. If that's what you're asking.

no, not asking about picking up dead players weapons which they screwed that up since you don't pick up their kit and only pick up their weapon.  I'm talking about pick up weapons such as rocket launchers, 1 shot sniper rifles, frag round automatic shot guns, etc like was found in BF4.

Not at present.

I'm not sure if the dev team has plans to add them or not, unfortunately.

I'd like to see them back too, though some of the weapons on offer negate the need for them in the first place.

No, there are no pickup weapons in 2042.