I love using the web highlighter on desktop Chrome. However, as far as I can tell, highlighting is not supported on the iOS app.
I’d love to be able to add highlights while reading on my iPhone and iPad!
Is this planned on the roadmap?
Good news!
This is going to land in the next version of the Mobile App 
It will be a bit crude still but working!
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So mobile annotations are live in 1.6.2 on Android and iOS!
Here is how you can use them and a list of known issues:
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It just shows the same mobile app on iPad. It does not scale.