I just figured this out, myself, so for the last two people who commented last year:
On the device you want to copy annotations from, long-press the book with annotations, then choose “Share or send.” In that menu, there is an option for “Annotations (Marvin —> Marvin). Tap that, confirm, then Airdrop the resulting Annotations archive to your other device. The second device will automatically open Marvin and give you the option to import by either copying only the new annotations/highlights or overwriting any existing annotations/highlights. This works flawlessly.
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