I don't know why, but I couldn't get drawing annotations to work on the free version of Acrobat Reader. It works on Acrobat Pro, but that has other issues such as poor touch interface. It didn't seem to be able to distinguish pen from finger touch, so I couldn't switch between writing and panning/zooming seamlessly.
In the end the best app I found was Drawboard PDF. It's super intuitive. I'm just disappointed it's under a subscription-based business model because I would gladly pay a one-time fee for an upgraded version of the software. But the free version isn't bad. I was able to save the annotated version and transfer it to my e-ink devices without restrictions.
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