Seamless PDF compatibility between iPad Mini 3 and Mac Preview?

First time owner of an iPad here - iPad Mini 3. Longtime user of Mac computers.
I read a lot of PDF's and I am constantly highlighting. I bought an iPad exclusively to do reading/highlighting of PDF's. I would like to be able to highlight PDF's on my iPad and then see the highlighted marks when pulling up the PDF on my rMBP's Preview. I use Preview on my laptop because it is really convenient and straightforward for highlighting PDF's.
Is this possible? I've just realized neither iBooks nor the Adobe Reader app allows highlighting of PDF's. I don't understand why Apple needs to make this so difficult?

To clarify, I am not looking for something that permanently alters a PDF document, but could be "un-highlighted" by the Mac Preview app need be.

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