Guys…
the built in Edge browser allows this or if you want to do a little more and edit the layout, Microsoft Word can import PDFs and “print to pdf” too.
No need to download new and random stuff
Microsoft Edge has a handy built-in PDF editor, so you can quickly tweak PDFs. Here, we look at how to use the feature and its features.
www.makeuseof.com
I was going to suggest this, just use the Microsoft Edge browser.
I haven't seen anything on Firefox or Chrome as simple and easy and quick as this.
The free version of Acrobat for Windows doesn't appear to let you do much. You can highlight and do a text box (a "sticky note") -- like is typically an option when you highlight something. It actually does what the OP is asking for, but in a limited way.
In Edge, you can draw a line or arrow or what not -- and possibly write with that, but probably depends on size and surface how neat. You can also draw free form with the highlight--besides just highlighting text. Both are more than just the sticky note in Adobe, and Edge also has the sticky note. A lot of times I'd rather just draw a straight line in the margin by important text, rather than highlight all of that. If you are sharing with other people, marking something free form might make it more apparent.
One thing you can do with Adobe but not Edge is underline, but I consider that minor relative to everything else.
When I got a Windows PC a couple of years ago, I thought I would use Adobe then a lot, but I never really have. I try to use it to keep up, in part because if on a public PC, it is common and something I might use then. I keep up plenty well, even not using it much (and even though its limited features are things I use a lot).
Edge is so much faster and has a cleaner, less complicated interface, I find I generally prefer that. Much that I markup there, is more to just help me read, not something I'm necessarily going to mark and go back to a lot, if at all.