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Recommend a Pdf viewer for Windows.
(lemmy.ml)
If it's free and open source and it's also software, it can be discussed here. Subcommunity of Technology.
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Why do you need it to be a browser plugin, a program that embeds itself into the webbrowser?
Firefox does have PDF view and edit with section jumping, comments, and highlighting. What do you mean by “easier”? What's easier than a sidebar table of contents, and a toolbar with highlighting and comment actions? I don't see what could be “easier” than that.