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The notion that a feature of a pdf file can have legal status is far fetched.
Or maybe not, what with the RIDICULOUS protections to DMR afforded by certain very poorly thought out laws in recent times. But let's NOT start accepting that kind of bunk as the norm. We need to reject the legal status of programs features, not assume there to be such where there is none.

In short; It cannot be copyright infringement to unlock a document.
Copyright infringement has to do with what you do with the CONTENTS of the document, and is not dependent on the particular instance of the document itself being locked or not.