Yes, there were debates. The NSDAP had by far the best system in dealing with such affairs. They schooled their members who were chosen for interacting with media/political enemies in rhetorical art and they especially chose which of the speakers had which authority to speak in which area. There were people like Goebbels, who were allowed to speak in the whole republic, whereas others were only allowed to speak in their state, county, city or even just part of their city.

On the other hand though critical enemies of the NS saw it as its strength, that the national socialists, rather showed manpower in marches, than to discuss (and find benevolent means of policy with others, therefore actively denying any cooperation with the other parties and ideas). Ernst von Salomon e.g. saw it as the strength of Hitler and his party, that they showed power and marched in glee and convinced, that their idea is the only right one, whereas the democratic parties tried to find a common ground and therefore "talked to much".

In summary, the national socialist though way more often spoke in front of their own people or an interested crowd. There were debates, but not of such large scale as broadcasted discussion of all leading politicians of the big parties.