PDF reader that differentiates finger from Apple pencil?

[knownastron]

I'm looking for a PDF reader that recognizes the difference between the Apple pencil and my finger. This would allow me to change the page with my finger and then annotate with the Apple pencil without needing to select "markup" or whatnot.

 

[960design]

iBooks?

 

[mcrmama]

Notability will do that. Not sure if it has the other features you would like but I often drag pdf’s in the app since it is simple and just seems to work for what I need.