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xournalpp
Xournal++ is a handwriting notetaking software with PDF annotation support. Written in C++ with GTK3, supporting Linux (e.g. Ubuntu, Debian, Arch, SUSE), macOS and Windows 10. Supports pen input from devices such as Wacom Tablets.
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PDFSam is pretty nice. It's free for simple editing. There is also a Pro version.
Xournal probably is best annotation tool for pdfs, even on other operating systems. Can be installable from Debian repos, also check Xournal++ for increased functionality, Xournal++ doesn't exist in Debian repos thou, you need to download from their website(it is also free as in freedom and open sourced).
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