It depends how the aips were stored. The default is to compress AIP's. If you have stored your AIP's uncompressed, then it is possible to access the METS file inside each aip if you have access to the file system. If your AIPs are compressed, then you would have to uncompress them to extract the METS file.
Archivematica does index the dmdSec into ElasticSearch. There isn't a built in way in Archivematica right now to get out just the dmdSec for a given AIP, but if you are willing to figure out the ElasticSearch query syntax, you should be able to get all the metadata from the dmdSec that way, rather than by extracting METS files from AIPs.
Here is a super quick snippet from a test server, showing how the dmdSec metadata are stored in ElasticSearch:
"dmdSec": {
"ns0:xmlData_dict_list": [
{
"@xmlns:dc": "
http://purl.org/dc/elements/1.1/",
"ns1:dublincore_dict_list": [
{
"dc:creator": "McLellan, Evelyn, and her friends",
"@xsi:schemaLocation": "
http://purl.org/dc/terms/ http://dublincore.org/schemas/xmls/qdc/2008/02/11/dcterms.xsd",
"dc:title": "Peanut fonds",
"dc:type": "Archival Information Package"
}
],
"@xmlns:xsi": "
http://www.w3.org/2001/XMLSchema-instance",
"@xmlns:ns0": "
http://www.loc.gov/METS/",
"@xmlns:ns1": "
http://purl.org/dc/terms/"
}
]
}