How can I send a pdf copy of the form to people who fill out the form?

You can attach the PDF Submission to the email autoresponder that will be sent to the person who successfully submitted your form.

Supposed you have already set up an email autoresponder in your form and you have already created a PDF Document on the PDF Editor page.

Setting-up-an-Autoresponder-Email

How-to-Customize-PDF-Submissions-Report

You can attach the PDF Document to the email autoresponder by selecting the PDF Document as the attached file after you enabled the PDF Attachment option of the email autoresponder under the Advanced tab.

Please give it a try and test your form after. If you have other questions or concerns, please do not hesitate to let us know.