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How can I fill PDF form template

If your input PDF is a fillable form then check this tutorial https://pdf.co/how-to-fill-pdf-forms-using-zapier

If your input PDF is not a fillable form (ie no interactive forms) then you can simply add text and images on top of it by following this tutorial https://pdf.co/add-text-and-images-with-links-to-a-pdf-using-zapier