Is there an available patch for importing GeoPDFs, like the topographic maps that are available through USGS, into a session?
Software that costs $3000 is not a viable option.
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If using an alternative to ArcMap is an option, QGIS has the ability to add a Geospatial PDF to the map frame.
Depending on how the Geospatial PDF was created (vector-based or raster-based), you will either need to add the PDF using the "Add Vector Layer" button or the "Add Raster Layer" button. For the sample PDF that I used, I had to load with the raster option.
If ArcMap is required and depending on the number, you could consider opening in QGIS (or use a GDAL command line script) and converting the GeoPDF to a format that Arc can open, like a GeoTiff.