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Ctrl+J or Item | Open Document will open a document item in its associated application, which for .pdf files will typically be a PDF reader (Adobe, Foxit, etc.).
Adobe and Foxit provide IE plugins that allow it to display PDFs internally, but when I tried to open a .pdf file with Firefox (using the Explorer menu [Ctrl+E, Open With]), it prompted for which application to show it in, so apparently there isn't a way for Firefox to render PDFs internally (maybe there is some extension that can, but apparently Adobe/Foxit don't make one).
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