IPUMS doesn’t have a public version of this crosswalk; only an internal version that isn’t presently in an easily shareable state.
I recommend you use the Geocorr website, which generates correspondence files for most census geographies of the same era. The Geocorr 2018 site includes 2010 census tracts and 2000 PUMAs. For the 2000 PUMAs, look under “Other Geographies.”