Clearscanner on the phone does this -- my kids use it for their homework. Snaps pictures, finds edges, does affine transform, corrects exposure, and assembles into PDF.
I went into the app store to see about this app, having not heard about it yet. The app's privacy policy says it uses Firebase (Google) Analytics, which transmits information about your use of the app off the device without consent.
This, to me, means I can never trust it for scanning sensitive or private documents, because who knows what it's sending. I declined to install it. YMMV.
An app that shares my event data silently and without consent cannot be trusted with even low-grade private information. Why would I ever allow it on a device that handles high-grade private information?