iPads are not close in terms of eareading. You can stay away from Apple books and use DRM free books or Kindle, or Nook app. which would be the same you do on any Android tablet.
On Android you can get RepliGo but I've found that at this point in time nothing beats iPad and GoodReader app for PDF reading. The app features together with iPad size makes the tool a great PDF reader application, with the ability to highlight, annotate , underline, etc.
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