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The Elipsa & reMarkable allow markup on PDF just like on paper with a pen.
Additionally, you can number the highlights and have a companion Notebook (easy to swap back and forth on Elipsa or Sage), and unlike reMarkable the Kobos can do local conversion of entry to text, equations, shapes and checkboxes.
I have the Sage & Elipsa, but gave away the reMarkable as it's so totally inferior in many areas.
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