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Yes, you can add inline or margin comments to your LaTeX PDFs with the todonotes package. If you include the command:

\usepackage[colorinlistoftodos]{todonotes}

in the preamble, you can then add comments with the following command:

\todo{This is a comment that will appear in the margin}

Below is an example document with additional styles of comments demonstrated:

Lateximg.png

You can follow this link to create a new Overleaf project using the todonotes package.

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