This is a custom style for the Stylus browser extension that removes link popups in Asana. To install, click the "Raw" button below, save the file, go to Stylus settings, click Import, then pick the downloaded file.

stylus-asana.json

[
  {
    "settings": {
      "openEditInWindow": false,
      "openEditInWindow.popup": false,
      "windowPosition": {},
      "show-badge": true,
      "disableAll": false,
      "exposeIframes": false,
      "newStyleAsUsercss": false,
      "styleViaXhr": false,
      "patchCsp": false,
      "config.autosave": true,
      "popup.breadcrumbs": true,
      "popup.breadcrumbs.usePath": false,
      "popup.enabledFirst": true,
      "popup.stylesFirst": true,
      "popup.autoResort": false,
      "popup.borders": false,
      "popup.findStylesInline": true,
      "popup.findSort": "u",
      "manage.onlyEnabled": false,
      "manage.onlyLocal": false,
      "manage.onlyUsercss": false,
      "manage.onlyEnabled.invert": false,
      "manage.onlyLocal.invert": false,
      "manage.onlyUsercss.invert": false,
      "manage.actions.expanded": true,
      "manage.backup.expanded": true,
      "manage.filters.expanded": true,
      "manage.newUI": true,
      "manage.newUI.favicons": false,
      "manage.newUI.faviconsGray": true,
      "manage.newUI.targets": 3,
      "manage.newUI.sort": "title,asc",
      "editor.options": {},
      "editor.toc.expanded": true,
      "editor.options.expanded": true,
      "editor.lint.expanded": true,
      "editor.publish.expanded": true,
      "editor.lineWrapping": true,
      "editor.smartIndent": true,
      "editor.indentWithTabs": false,
      "editor.tabSize": 4,
      "editor.keyMap": "default",
      "editor.theme": "default",
      "editor.beautify": {
        "selector_separator_newline": true,
        "newline_before_open_brace": false,
        "newline_after_open_brace": true,
        "newline_between_properties": true,
        "newline_before_close_brace": true,
        "newline_between_rules": false,
        "preserve_newlines": true,
        "end_with_newline": false,
        "indent_conditional": true
      },
      "editor.beautify.hotkey": "",
      "editor.lintDelay": 300,
      "editor.linter": "csslint",
      "editor.lintReportDelay": 500,
      "editor.matchHighlight": "token",
      "editor.autoCloseBrackets": true,
      "editor.autocompleteOnTyping": false,
      "editor.contextDelete": null,
      "editor.selectByTokens": true,
      "editor.appliesToLineWidget": true,
      "editor.livePreview": true,
      "editor.colorpicker": true,
      "editor.colorpicker.hexUppercase": false,
      "editor.colorpicker.hotkey": "",
      "editor.colorpicker.color": "",
      "editor.colorpicker.maxHeight": 300,
      "hotkey._execute_browser_action": "",
      "hotkey.openManage": "",
      "hotkey.styleDisableAll": "",
      "sync.enabled": "none",
      "iconset": 0,
      "badgeDisabled": "#8B0000",
      "badgeNormal": "#006666",
      "popupWidth": 246,
      "updateInterval": 24
    }
  },
  {
    "enabled": true,
    "updateUrl": "https://gist.githubusercontent.com/corbindavenport/815557282a4e214048e77189bb2cb22e/raw/stylus-asana.json",
    "url": "https://gist.github.com/corbindavenport/815557282a4e214048e77189bb2cb22e",
    "installDate": 1638479771868,
    "name": "app.asana.com",
    "sections": [
      {
        "code": ".LinkOverlay {\n    display: none !important;\n}",
        "domains": [
          "app.asana.com"
        ]
      }
    ],
    "updateDate": 1638479845676,
    "_id": "aedb70f3-eb9f-436e-8258-2f85c009b9f5",
    "_rev": 1638479845676,
    "id": 1
  }
]

Download Stylus for Chrome: https://chrome.google.com/webstore/detail/stylus/clngdbkpkpeebahjckkjfobafhncgmne

Download Stylus for Firefox: https://addons.mozilla.org/en-US/firefox/addon/styl-us/

Original CSS code:

.w-tabs-content.attributes {
    background-color: #f2f2f2 !important;
    z-index: 5000 !important;
    display: block !important;
    visibility: visible !important;
    position: absolute !important;
    right: 0 !important;
    bottom: 0 !important;
    top: 0 !important;
    overflow: auto !important;
    width: 420px !important;
    height: 100% !important;
    border-bottom: 1px solid #d1d1d1;
}
.w-tabs-content.attributes .form-sub-title {
    background-color: #f2f2f2 !important;
}
.w-form-article .icon[data-bind*="$data,'settings'"] {
    display: none !important;
}