I am getting embedded timestamp could not be verified for TSA : http://timestamp.digicert.com
but with same sample code and TSA : http://ts.quovadisglobal.com/eu . It works fine
I am using PDFBox example for singing a document https://github.com/apache/pdfbox/blob/trunk/examples/src/main/java/org/apache/pdfbox/examples/signature/CreateSignatureBase.java
If you compare the trust tabs of the Acrobat time stamp certificate viewer ("Show Signature Properties..." -> "Advanced Properties..." -> "Show Certificate..."), the problem becomes clear:
As you can read at the top of that tab in case of the working time stamp,
This certificate is directly trusted in your trusted certificates list. Source of Trust obtained from European Union Trusted Lists (EUTL).
and in case of the not working time stamp,
This certificate is not trusted.
(If you click through the certificate chain, you'll see the same again and again, not trusted.)
Looking into the Adobe Acrobat Trusted Certificates, one currently sees
So indeed, the G4 DigiCert certificates used to sign your problem time stamp are not trusted by Adobe Acrobat. Thus, Acrobat cannot verify the time stamp.
But have a look at the validity dates of the intermediary certificate and the TSA certificate,
They have been issued less then 2 weeks ago! Maybe they simply are not yet on the Adobe trust lists (AATL / EUTL). I've seen relevant trust anchors taking months to be included in those lists. Thus, it's not unlikely that Adobe Acrobat will become able to validate those time stamps over time.