i havnt tried it but librera on android has a sync option that uses google drive

librera.mobi/faq/setting-up-synchronization/

i think it only does highlighting in pdfs though.

for other things like epubs, you can select text and then bookmark it, you can add in your own notes to the text, but they are mainly used for navigation. when you add a bookmark first, the text is visually highlighted but it goes away as soon as you scroll and i dont know if theres a setting to keep it highlighted