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I have a Linux laptop, a PineTab, a PineTab2, a PinePhone, a PinePhone Pro, and a Pixel 3a, and a stylus. Can anyone tell me how I can sign a PDF digitally using one of these?

@libreoffice and @gnome Papers don't do it like Macs do, the PineTab and PineTab2 displays don't well enough with a stylus like iPads do (otherwise I would've used @flxzt's Rnote)

So far I have printed the signature page of a PDF, signed it, scanned it, and added the image to the document.

There must be a better way.