I have created specific views for these individuals and want to set up an automatic subscription so they receive a PDF version of the view daily. Since they do not have permission to view the published dashboard the system is not letting me set up a subscription. Is there any work around to this issue?
You could look into User Functions and Row Level Security. Here is a link to some Tableau documentation on how to do this.
https://help.tableau.com/current/pro/desktop/en-us/publish_userfilters_create.htm#dynamic
Basically, you can create conditions for each row of data regarding who can see it using User Functions and your own security/access user info table. So if USERNAME() (this is the person reading the dashboard) is in the list of approved usernames (This is a table you make), then [Value] else null end. This will filter out data they are not supposed to see in the dashboard.
Then, you can give them permission to view the dashboard and set them up for subscriptions. If set up correctly, they should only see the data they are supposed to see. I definitely recommend testing this out with a few edge cases before pushing it to production.