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Generally, browsers can't open and view PDF files because they are not designed to do that. In techno-speak, they are not conforming PDF Processors and aren't compliant with the PDF standards on how to handle PDF files.
Some browsers have plug-ins that allow users to view PDF files within the browser, and Google Chrome might be one of them. However, you won't be able to access all of the interactive features of the PDF when it's viewed in a browser, even Google.
Those functions (such as commenting, editing, accessibility, filling in forms, signing, etc.) require a fully-compliant PDF viewer such as Adobe Acrobat Reader, Adobe Acrobat, or PDF software from other vendors.
If all you need is to read or view a PDF, then you might get what you need with Google Chrome.
However, if you want to do more with the PDF, such as fill in a form or add comments to it, then you'll need to do either of these 2 tasks:
Download and install a PDF reader plug-in to your preferred browser, or
Download the PDF file itself to your computer / device, and open it in a fully-compliant PDF reader, such as the free Adobe Reader. There are other PDF readers from other vendors.