解:(1)在$y=\frac{3}{2}x + 3$中,令$x = 0,$得$y = 3;$令$y = 0,$得$\frac{3}{2}x+3 = 0,$$x=-2。$
所以点$A$的坐标为$(-2,0),$点$B$的坐标为$(0,3)。$
因为点$C$是点$A$关于$y$轴的对称点,所以点$C$的坐标为$(2,0)。$
把$D(-1,a)$代入$y=\frac{3}{2}x + 3$中,得$-\frac{3}{2}+3 = a,$$a=\frac{3}{2},$所以点$D$的坐标为$(-1,\frac{3}{2})。$
把$C(2,0),$$D(-1,\frac{3}{2})$分别代入$y = kx + b$中,得$\begin{cases}2k + b = 0\\-k + b=\frac{3}{2}\end{cases}$
由$2k + b = 0$得$b=-2k,$代入$-k + b=\frac{3}{2}$得$-k-2k=\frac{3}{2},$$-3k=\frac{3}{2},$$k=-\frac{1}{2},$$b = 1。$
所以直线$CD$的函数表达式为$y=-\frac{1}{2}x + 1。$
(2)存在。由(1)得点$A(-2,0),$点$B(0,3),$点$C(2,0),$点$D(-1,\frac{3}{2}),$直线$CD$的函数表达式为$y=-\frac{1}{2}x + 1,$则$OC = 2。$
${S}_{\triangle COD}=\frac{1}{2}OC\cdot y_D=\frac{1}{2}\times2\times\frac{3}{2}=\frac{3}{2}。$
因为${S}_{\triangle PAB}=4{S}_{\triangle COD},$所以${S}_{\triangle PAB}=6。$
设点$P$的坐标为$(m,-\frac{1}{2}m + 1),$直线$BP$的函数表达式为$y=\frac{-\frac{1}{2}m + 1 - 3}{m-0}x + 3=\frac{-\frac{1}{2}m - 2}{m}x + 3。$
令$y = 0,$得$\frac{-\frac{1}{2}m - 2}{m}x+3 = 0,$$x=\frac{3m}{\frac{1}{2}m + 2}=\frac{6m}{m + 4},$所以点$Q$的坐标为$(\frac{6m}{m + 4},0)。$
$AQ=\vert\frac{6m}{m + 4}-(-2)\vert=\vert\frac{6m+2m + 8}{m + 4}\vert=\vert\frac{8m + 8}{m + 4}\vert。$
又${S}_{\triangle PAB}=\frac{1}{2}AQ(y_B - y_P)=\frac{1}{2}\cdot\vert\frac{8m + 8}{m + 4}\vert\cdot[3-(-\frac{1}{2}m + 1)] = 6,$即$\vert\frac{8m + 8}{m + 4}\vert\cdot(m + 4)=24。$
所以$8m + 8 = 24$或$8m + 8=-24,$解得$m = 2$或$m=-4。$
所以点$P$的坐标为$(2,0)$或$(-4,3)。$
(3)点$M$的坐标为$(-\frac{22}{5},\frac{16}{5})$或$(\frac{190}{31},-\frac{64}{31})。$