Just tried annotating some files with ezPDF on Android and then open them on desktop with Adobe Reader, PDF Annotator and xournal.
Adobe Reader opens just fine and is able to view the highlights and annotations, and change the text in Sticky Notes. Fairly fast. (The filesize is about 400KB, BTW) However, making new freehand writing is not supported (I think you need the full version Acrobat for that).
PDF Annotator also opens the file just fine, albeit slow, the highlights and annotations are displayed as well, but one is not able to view nor change the content of the Sticky Notes. Freehand writing is okay but it cannot make highlights the way Adobe Reader and ezPDF do.
xournal can also open the file fast, but annotations and highlights are not properly displayed, they become solid blocks which cover the text entirely.
A few screenshots to illustrate the above points...
P.S. I've read good things about Bluebeam Revu. It has a trial version but got no time to test it. The price is cheaper than Acrobat but more expensive than PDF Annotator ($179 vs $299 vs $70). Adobe Reader and xournal are downloadable free.