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iPad 6th generation. I read that it only works in freehand mode so I click this in field but can only draw with finger. Is this option limited to the iPad Pro or am I missing a setting or something?
Yes, the Adobe Reader for iOS device supports the Apple pencil only in the "Freehand Drawing' mode.
Please refer to the steps mentioned in this forum thread Re: HOW DO I START USING APPLE PENCIL ON IPAD PRO / ACROBAT? to use the Apple pencil in Reader for iOS devices.
Hope that helps.
Let us know if you still experience the issue.