Be careful with PDF! There are many ambiguities in the specification that are implemented differently between parsers, as well as implicitly accepted malformations that almost all parsers will silently accept without warning. It is very easy to accidentally produce so-called file format schizophrenia: When the same file is rendered differently between two parsers. For example, with PDF, what if you have a PDF object stream that has a length that doesn't agree with the position of its `endstream` token? What if you have a PDF dictionary with duplicate keys? Do you use the value of the first key or the second? What if you have two, valid PDFs concatenated one after the other? Do you render the first or the second? What if an object in the XREF table has an incorrect offset?

Shameless plug: I am one of the maintainers of PolyFile, which, among other things, can produce an interactive HTML hex editor with an annotated syntax tree for dozens of filetypes, including PDF. For PDF, it uses a dynamically instrumented version of the PDFminer parser. It sounds like it might satisfy your use case.

https://github.com/trailofbits/polyfile