It depends what kind of edits you’re aiming for and what your setup is.
I have opted to go all-in and run Stirling pdf, which is a server solution and then you can do a shitload of things via web browser.
If quick and dirty is fine than inkscape is a surprise candidate - although it’s aimed at vector graphics editing you can easily create overlays for PDFs as well.
Love me some Sumatra, the biggest benefit to me is using it as the PDF previewer engine in windows explorer. 10x faster than the built in or adobe previewer. Takes a little work to do but since I’m frequently scanning through PDFs it was worth the effort.
sumatrapdfreader.org
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