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I think Adobe Fill and Sign can be used but how do I import the form to the app?
As you would like to import the form to the Acrobat Reader app on iPad, so you need to check where exactly the form is saved or the form's actual location?
If you have the form in the app itself then you can easily open and use Fill & Sign feature.
If it is saved on system or to any other location, then you first need to "Save As" on Document Cloud storage of Acrobat and then you can access it on mobile app under "Document Cloud" section.
You may check How to open PDF documents in Adobe Acrobat Reader for iOS (iPad version) for detailed description how you can open files in Acrobat Reader from different locations.
Hope this would help in your work.