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The pic 16 has output current limits of few microamps to a milliamp at the Hi o/p.As uch you need current magnifiers like a n emitter follower or darlington pairs.
There is also a voltage drop in the outputs as the output current gets higher, this is typical for any mcu
I think the Darlington would work fine.
d313 can't work either, you need much higher gain and one single transistor can't give it, the rule of thump is to use 1/10 - 1/20 of the output current so if you need nore than 200-300mA to the base of the three transistors this solution can't work, you need more gain.
I don't understand what problem, you never mentioned any problem, the question of this thread was if pic16f676 can drive one pair TIP41C directly at its full power...
Alex