The best PDF android reader and writer is this one. (July 2021)
Samsung Write on PDF
Somehow it is not easy to get a copy, except if you buy high-end Samsung devices. It seems to be included.
However, if you can get this into your device the features for handwriting are now at a whole new level.
NO ADS.
EASY touch and write with Samsung S-pen and then you get to save the file with the annotation and handwriting.
My kids are now writing on their PDF workbooks with ease.
See my video here about this great application.
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