I spent the day looking for a desktop app that does this and finally found Scribus. The fact that most desktop Linux PDF readers and editors cannot do this satisfactorily does not make me hopeful that such an app exists for Android.
this post was submitted on 05 Nov 2024
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F-Droid is an installable catalogue of FOSS (Free and Open Source Software) applications for the Android platform. The client makes it easy to browse, install, and keep track of updates on your device.
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FWIW I use xournal to sign pdfs with an image of my signature. Not exactly a form though.