Highlighting with Apple Pencil on PDFs in files app

Is there a way to highlight PDFs with the Apple Pencil in the files app, the same way it highlights in the books app? I really like the “computerized” look of the highlighted text rather that the handwritten look. I’m aware I can do this by selecting the text with my finger and choosing highlight from the menu but text selection is easier and more precise with the pencil. Thank you in advance!