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No in-app bookmarks, but you can use "add to home screen" to get a shortcut.

Is that on android and/or ios?

Definitely yes on Android. I don't know for iOS.

Maybe that's a feature of your launcher? I can't see it in any of firefox focus' menus, the share list or long-press on a link options.

Weird! It's on the only menu in Focus for me, the same level as "settings." I wouldn't have thought a launcher could do that. I use Nova Launcher.