First of all, the printer you want to print the document on needs to support AirPrint.

1. Open the document in PDF Viewer and tap on the "Activity"-Button.

2. If you want to include annotations in the printed PDF, then please select "Embed Annotations", if not then select "Ignore Annotations". Then tap "Share".
3. Tap on the "Print"-Activity.

4. Select your printer and tap on "Print".

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