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I'm also experiencing this issue, and it's affecting me very badly since I need the highlights in my PC for school work... none of the solutions above worked
As per your description, when you add highlights and save PDF that changes do not sync to Document Cloud.
Please make sure that the PDF on which you make the changes is saved in Document Cloud, not on Local.
Once you highlight the text in the PDF, please make sure that you save the changes. Do not close the application directly.
Did you check if you experience this issue with multiple PDFs or with a particular file?
Please share the current version of the application and OS on the device.
Let us know if you need any help.