By combining two freeware tools by Arkance Systems - VerticesBlk and InsertC/BlockC - you can easily annotate all vertices of a selected polyline with numbers and coordinates.
You will need an annotation block with one (or first) attribute for the future number (vertex ID) and optional other attributes - e.g. for coordinates XY, XYZ or just Z. An example of such block can be downloaded from the Catalog - see VertID:
Now import this block into your drawing (Insert) and load (Appload) the two LISP utilities VerticesBlk and InsertC (see Download).
First start the VerticesBlk command to insert the VertID block to all vertices of your polyline (LWPolyline, 3D Polyline etc.). Then start the BlockC command to renumber the labels with a series of incrementing numbers.
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Please use these tips at your own risk. Arkance Systems is not responsible for possible problems that may occur as a result of using any of these tips.