As of MuseScore 4.x, the software includes an experimental PDF to MusicXML converter. It is not perfect (MuseScore themselves call it "experimental"), but it is the most direct route.
From Static to Symphonic: How to Convert a PDF Score to an MSCZ File convert pdf to mscz file
Listen to the piece using high-quality digital instruments. As of MuseScore 4
To clarify: with a simple converter. PDF is an image/print format, while MSCZ is a editable musical notation format. As of MuseScore 4.x