We had this discussion a few times already. Even developers think that the new look is “fresh and modern”. Whatever that means. Users expect the ugly icons and so I’m doing them. Like others, though, I’m doing a switch so that users can switch between the nice color icons and the ugly black-and-white ones.
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PDF is just a container and can be bitmap if you print bitmap data to PDF.
So, to get Vector n PDF, print Vector Data.
If you launch the SF Symbols app and search for “edit” you get some options, including 3 versions of a pencil icon.