it says “waiting on pdf.js support” on the roadmap but pdf.js has had improved support for highlighting and editing annotations for over a year now, sometime around this release. I can see and use these features (highlight, textbox, freedraw, image overlay) in firefox, which also uses pdf.js. It seems like this feature is extremely deprioritized when we have been waiting over a year to just move to a newer version of pdf.js to enable this feature in obsidian (not even a major version update, as many of these features seem to be available in 3.x!). The roadmap describes this feature as “planned”, not even active, despite no longer being blocked by pdf.js.
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Exactly. The fact that the even the roadmap line item is out of date is not super reassuring that this is a priority. I’m sure it will also take a fair amount of time to build when it finally gets picked up…
The highlight support was finalized last month, not a year ago. Upstream work is still ongoing.
Nevertheless, we never provide timelines or estimates, so please don’t ask for ones.
The fact that this FR is on the roadmap is already more than we say of the other almost 5K feature requests present on on this forum.
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I’m happy it’s slated to arrive one day! Just impatient 
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I will wait for it with great pleasure