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Yes, there are various of application that helps you convert PDF to DWG, I tried some of them and found the AutoDWG PDFin PDF converter works wonderful, it converts may drawing perfectly, almost retain all entities as original AutoCAD drawing, and yes it is totally editable.
I upgraded to the stand-alone version later, as that one also convert my scanned PDF file into vector drawings.
For more information of AutoDWG PDFin PDF converter chick it here: PDF to DWG Converter, Convert pdf to dwg Accurately & Quickly