I have been using Xodo for this. It's on play store but I got it through Aurora. Aurora says it has some trackers in it, google and Microsoft analytics. It works perfectly fine without play services and i haven't given it any permissions at all. The free version allows nearly all functionality. Can fill and sign (save multiple signatures and insert where needed), annotate, draw, add, edit and rearrange pages, has OCR which seemed to work well when I tested it. It works very well with my usi 2 stylus pen (also just discovered my pixel 7 pro has no stylus support, bummer). It lists "smart pen" support as a premium feature but mine works well, even pressure sensing works. There is an option in the settings to automatically execute embedded JavaScript in PDFs, which is turned on by default. I turn this off. The paid features that are locked out are redaction, export to office formats, export annotated pages, and compression. All in all it's very usable for a free app.
If anyone has any foss alternatives that are actually usable and somewhat feature rich I'd love to know about them. I did some searching but xodo was the best option I could find at the time.