With the Pocket / Brave model, the user's private information still winds up in the advertisers' hands -- in the form of which ads the engine recommends be shown to the user. The advertisers may not be able to directly see which specific sites or pages the user has in their history, but they still get the aggregate information which is what they were after in the first place.
The one advantage to the local parsing compared to serverside is that there isn't a cloud full of everybody's browser history ready to be hacked or resold. That's a real benefit, I don't want to undersell that, but it's not the entirety of the story.
As for your example: Firefox using your browser history to autocomplete urls as you type in the address bar is innocuous because that information never goes anywhere but to that user; it's solely for the user's benefit. Firefox using that same browser history to tell advertisers which subjects the user might be interested in is not innocuous; it's broadcasting information to third parties that the user might prefer be kept private. The user's data is no longer being used for the user's benefit, but for the advertiser's.