Perhaps reMarkable can be your solution.
Convert your handwritten notes into text
All your notes, organized and accessible on all devices
Take handwritten notes, read, and review documents
Take notes directly on PDFs
Paper-like writing and reading
Integrates with Google Drive and Dropbox
2 weeks of battery life
Subscribe to Connect to access all ...
As far as I can tell you cannot edit PDF files. Not on Windows, iOS, whatever.
The only way is to download the official Acrobat Reader App for iOS and use that to modify the PDF or add notes with the apple pencil.
Then OneDrive will automatically upload and sync your files.
But I think you need to have the paid version of Acrobat Reade App to make changes ...