Sync PDF highlights (a la Preview) between Mac and iPad

Is there an easy way to share PDF highlights (and more generally annotations, but especially highlights) between Mac and iPad?

I really love the straightforward use of highlights in Preview, and I don't understand why this app does not exist on iPad, or why these highlights do not sync with Books.

The markup features in Books on iPad are a completely different system, which is not indexed / searchable, and which bloats the size of PDFs ridiculously.

Is simple and lean highlight syncing feasible in the Apple native ecosystem, or should I look for a third-party app? If so, which one would you recommend?

Thank you!