By any chance do you have Microsoft Word for Office 365, Word 2019, Word 2016, or Word 2013 installed on your computer? If so, you may be able to import the PDF file into Word, make your changes, and then save a copy of the edited Word document as a PDF file.
https://support.office.com/en-us/article/edit-a-pdf-b2d1d729-6b79-499a-bcdb-233379c2f63a
Otherwise, the free version of PDF-XChange Editor may have enough features to do what you need to do.
https://www.tracker-software.com/product/pdf-xchange-editor
If you are whiting out areas to redact a PDF document, you should be aware that merely drawing a thick line over text, changing the text to the same color as the page, or highlighting the text with a color that matches the text does not remove the actual text content and it can be easily recovered with a select, copy, and pasting into a new document.