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PDF was never designed to be editable. It's an output/display format.
The thing about PDF is that the whole point of PDF is that it shouldn't be easy to edit. So you're asking for hacks around something that isn't supposed to be easily possible.
It's possible to import PDFs into Inkscape. But my experience is that the result is usually not very easily editable (probably depends on the PDF) because it puts everything into very complex groups and other structures.
if you want feature completeness and linux the only option is foxit pdf editor. FOSS there is nothing, and inertia bogs us down, but it's high time that eveyone ditches pdfs for good and transitions to markup or other free formats
Inkscape!
On a slightly different tangent does anyone have any recommendations for good applications that can generate markups on pdfs rather than editting the contents? Like adding redline markups to a pdf of a cad drawing?
LibreOffice Draw can do markup and much more, the downside like OP mentioned is that sometimes the formatting of the PDF can get messed up so it's a bit hit-or-miss.
Beyond that try Firefox (yes the web browser), its PDF markup capabilities are way better than you'd expect and the PDF formatting tends to stay intact. It's probably better than LibreOffice for simple markup stuff, I just wish Firefox included a way to draw straight lines/arrows and shapes (circles, squares, etc.) to complete the markup toolbox. It does have a pen and highlighter but drawing an arrow via mouse looks a bit janky, LOL.
If you do a lot of the same type of markup (say an arrow pointed right) you could probably just save an image of an arrow and keep pasting it into the Firefox PDF editor, it'll probably look better vs drawing them out.
if you're good at desktop publishing, you can make draw work. i've done it a couple of times for apartment leases.
Try Stirling PDF maybe