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I personally use Zathura, it’s minimalistic and uses VIM bindings.
But if you want something feature-dense, with a way of organising your library, eReader integration, file converting and more, Calibre is pretty amazing (and the actual reader part of Calibre is quite nice to use in my opinion).
Personally I use SumatraPDF.
Can read both PDFs, ePubs and even the djvu format. And its really lightweight, unlike the bloated monster that is Adobe Reader.
Same - for Windows it’s by far and away the best PDF reader for me. It’s shocking how far down the bloat rabbit hole Adobe Reader has gone!