PDF forms in SharePoint 2016

Hi

We are implementing a solution for pdf filler form with digital signature in sharepoint 2016 (onprem) with workflow.

Scenario as follow:

1. Library will contain all pdf forms (if possible else one library for each form)
2. User opens the forms, fills and saves back to the library
3. Workflow picks the form and routes to approvers for signature (digital signature)
4. Workflow collects all the signature (if it has multiple signatory) and completes the workflow.

Is this solutions achievable without any third party tools like pdfsahreforms / muhimbi? Does SPD workflow has capability to achieve this solution without nintex?

Appreciate your thoughts.