Chrome does not highlight hyperlinks in PDF files; I believe that can be done though in Adobe Reader (more info here, see the section Change the appearance of a link). To summarize the steps here, choose Tools > Edit PDF > Link > Add or Edit, double click the link rectangle, and set your options in the Link Properties dialog box. There are a wide range of customization options, so feel free to explore.
For your other question, I cannot locate any tool on the Google Chrome store which highlights links in PDF files at the moment, but you can easily set PDF files in Chrome to open in Adobe Reader instead. Toggle this setting in your Chrome browser (specifically, from Chrome Settings, under Advanced, first go to Privacy and Security, then Content Settings, PDF Documents, and toggle on the setting to
Download PDF files instead of automatically opening them in Chrome. Then, to set Adobe Reader as your default PDF reader, open the Settings app, go to Control Panel, and select Default Programs > Set your default programs, choose Adobe Reader from the list, and finally Set this program as default.
P.S. here is a link to download Adobe Reader for free.