After removing GIMP, Joplin launched Chrome for PDF viewing.

I believe I have resolved now. Solution was embarrassingly simple.

  1. Right click a PDF in file explorer and click "Open with..." to select a launcher.
    "Document Viewer" is default selection.
    Pick any other option (I picked Chrome) and click "Always use" at the bottom.
  2. PDF launches in Chrome.
  3. Close Chrome.
  4. Right click a PDF and switch the default back to Document Viewer.
  5. PDF launches.
  6. Close PDF.
  7. PDFs launched from Joplin now open in the default PDF viewer.