Simply create a VRT with GDAL. ArcMap and ArcGIS Pro both ready VRT. So any Format that ESRI ArcGIS does not support you simply need to create a vrt first. Want to display mbtiles, geopdf or other data gdalbuildvrt vrtname.vrt pathtodata\filename.extension
http://www.gdal.org/gdalbuildvrt.html
If you are looking for an application to read the GeoPDF natively go with BlueMarble Geographics Global Mapper