Not only does FF take a while to start up but when it is loading a mildly heavy page or even after updating, it can freeze up for several (as in 10-20) seconds.
I use an unload tab extension so currently there should be no 'open' tabs. Memory usage is at 1.5Gb though. It doesn't seem to go much higher or lower, though, so could it be that FF just takes/keeps the RAM it can get and doesn't bother to unload stuff?
It's also true that my MacBook has become slower in general since I updated to the latest MacOS, so perhaps it's not FF fault. Still, very annoying.
Numbers. Even with a top-tier SSD and 16 GiB of fast RAM starting cold (with minimal, necessary plugins):
FF: 25s
Safari: 13s
Chrome: 8s
Without plugins, hot restart (absolutely worthless):
FF: 5s
Safari: 3s
Chrome: 2s
Using FF UX is like replacing an SSD with an HDD.
FF has a nice mission, but it doesn't matter if it's not better than the others, which includes both being usable and fast, in addition to privacy and security.
Conclusion: FF is nice in theory, but not currently usable in practice unless you enjoy wasting your time.