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When zathura (my beloved) isn’t feature-rich enough for my needs I usually turn to okular. Sure, it’s kde, so if you’re on a pure gnome system you’re going to have to install a bunch of dependencies, but if that’s not a problem for you, okular is quite good in my experience!
Sure, that’s extremely fair! Those qt dependencies are no joke! How do you feel about Evince (apparently now called gnome document viewer)? It seems to be the standard gtk pdf viewer, but I’ve never used it, so I actually don’t know what it’s features are like. It’s a heavier application than mupdf (of course), but at least you don’t need to install qt to use it!