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I've seen a number of reviews that show the functionality of being able to highlight PDFs on iOS11 using the Apple Pencil, however, I'm wondering if I can do this with my finger on the normal (non-pro) iPad?

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Yes. iOS 11 allows markup with finger of PDF’s opened in the Files App or previewed. Works on iPad and iPhone. No need for a pencil unless one needs finer control of drawing.

The example below is a markup of a webpage that was saved as a PDF using my finger.

markup pdf iOS 11

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