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I have personally used DrawboardPDF on Windows tablets because it came with one that I bought, but it costs money and there may be better options out there. Nonetheless, it’s probably worth checking out.
Aside from that, I would probably consider looking at Xournal++. It’s technically a note taking program, so probably not quite what you’re looking for, but it handles PDFs and it seems to work well with a stylus. I’ve never used it to any significant extent, however. It’s also free, open source, and cross platform which are major pluses.