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This error message could be related to the PDF file being password protected or similar that Docusign eSignature was not able to open it. Also it could not be a proper PDF even though the extension claims that this is a PDF document. If it was formerly a different format, the PDF conversion may not have worked.
Are you able to open and view the document in a normal PDF Viewer without issues?
For other file extensions this could be related to embedded macros, virus or malware, but the error message would typically be a bite more precise on why the upload failed.
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