qutebrowser as default for opening links, then I run Chrome(ium) with Vimium and Safari with vimari and blank command prefix. I've previously also used Pentadactyl (think there's one named Vimperator as well) for Firefox. Once you're used to it you'll never want to go back.
Update with links:
https://www.qutebrowser.org/
https://vimium.github.io/
https://github.com/guyht/vimari
https://addons.mozilla.org/sv-SE/firefox/addon/pentadactyl/?...
https://addons.mozilla.org/sv-SE/firefox/addon/vimperator/