I'm looking for a lightweight PDF viewer on PC, that can let me highlight texts and save the highlights.
Other than highlighting, I have no needs for other bloated features.
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In recent versions (v3.3+) of Sumatra PDF (a frequently praised lightweight PDF viewer on Windows), you can select texts, then press
A to highlight it.
You can then save the highlights into the file. The highlights can also show up correctly if you open the file in other readers (browsers, Adobe Reader, etc).
Xodo PDF is popular. I have it on my Android phone but it is also available for Windows
If you have a pen as input device or a touchscreen display you could use Drawboard PDF. It allows you to highlight text, make notes and save them. A simple text highlight without a pen is also possible.