Correct me if I am right but isn't it possible to edit pdf's using Libre Office (free)?
Just tried it and I could. When you save it out though it is as a different document type (.odg) and I doubt that the solicitor would be using Libre Office so it could be a non starter. I think I'd just go for the simple post it back option.
If it were just a case of adding an answer to a questionnaire then opening up the pdf on a computer, adding the answers and saving would be an option but it would need to be saved in a format the solicitor could open. As they sent PDFs then I say they should get PDFs back. There are bits of freeware for windows that will allow that but for Apple I have no idea. As you appear to have a pile of paper already which they need then post is probably the only option.