If you keep Chrome up-to-date without changing any settings, any PDF you download may open within the web browser by default.

However, PDF files that you encounter with your browser will still open in the browser. The following section covers how to make Adobe Acrobat Reader the default PDF viewer for your Edge or Chrome ...

If you get the Failed to load PDF document when you try to open a PDF in Chrome using the inbuilt PDF Viewer, see this post for resolution.