Share the PDF to Book2Speech for a natural narrator with chapters and no page furniture, or use Speak Screen for a quick system-voice read. Steps for both.
With Book2Speech
1.
Install Book2Speech from the App Store.
2.
Open the PDF in Files, Mail or Safari, tap Share, then Book2Speech.
3.
Book2Speech extracts the text, removes page numbers and running headers, and turns the outline or headings into chapters.
4.
Pick a narrator and press play. Background playback, sleep timer and speed control are in the player.
With Speak Screen
Speak Screen reads what is on the screen, including page numbers and headers, and reads columns as they appear. It is fine for a page or two.
1.
Settings → Accessibility → Spoken Content → Speak Screen on.
2.
Open the PDF in Files or Books and swipe down with two fingers from the top.