How to erase a shape on iOS

I was experimenting with the PDF drawing tools on iOS, and discovered that I couldn’t find a way to erase a shape after it was drawn. E.g., if I draw a rectangle, the eraser tool does not seem to remove it. Undo was the only option I could find, but of course, that only works if what you want to undo was done recently.

Is there a way to erase or delete shapes (unlike pencil drawings)? Maybe I just haven’t found it.

You can just just tap the shape, even when you’re not in Edit mode, and a context menu appears. Tap the trash can icon to remove the shape.

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