The device that best meets your needs NOW is unquestionably the iRex DR1000S.
If that's out of your price range, the Sony PRS-600 is pretty good - it allows both "freehand" annotations with the stylus, and typed notes with the on-screen keyboard.
The Kindle 2 is out since it doesn't support PDF, as is the Kindle DX, since although it support PDF, it doesn't allow you to annotate them.
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