From what I understand - if you open a PDF from your desktop, it opens fine but the same file won't open in Acrobat if you're opening it from Sharepoint. That would suggest a Sharepoint issue.
How is your SharePoint linked to your computer? I also have SharePont/OneDrive linked to my day job. I have a OneDrive synched in File Explorer. I can navigate to PDF files there and open them in Acrobat without a problem. If I right click on teh file and chose to view it online, I go to the sharePoint location in my browser. If I clcik on the PDF, it opens in an documentcloud.adobe URL. From there if I click the Open in Desktop App, it doesn't open immediately in Acrobat (Acrobat DC for me) as it wants to configure the connection.
So, my guess it is the way SharePoint is configured on your end that is the issue.
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