Yes! First, click this Chrome Permissions link to access the Read&Write for Google Chrome™ Legacy PDF Viewer.
You will then be prompted to choose an account
Select your account and allow access
Click Allow to continue
Open Google Drive and select a PDF to open. Right click on the PDF and choose Open with
Select Read&Write for Google Chrome™ Legacy
Your PDF will then open in the Legacy Viewer
To open PDFs with the Texthelp PDF Reader click directly on a PDF or right-click on the PDF and choose Open with and choose Read&Write for Google Chrome™