If anyone is interested in assisting development-wise, Firefox bugs tagged 'fingerprinting' in the whiteboard are a good place to start. You can also run Tor relays and help us improve the health of the network by working with Tor's new Relay Advocate (https://blog.torproject.org/get-help-running-your-relay-our-...). More people being involved in spec work (especially at the W3C) and focusing on fingerprinting and privacy concerns is also very useful - it's very hard to keep eyes on all the things happening everywhere.
We also appreciate users of Firefox Beta and Nightly (Nightly especially). The flags Tor features are developed behind (privacy.resistFingerprinting and privacy.firstparty.isolate) are experimental. I appreciate bug reports from users running these flags but you should expect them to break things on the web (resistFingerprinting especially; first party isolate is generally more stable and usually only has breakage on particular login forms).