Various browsers on iOS use WebKit because that’s the only way to ship a browser on iOS.
Only Apple can ship that type of code, so any browser from the App Store competes on features with Safari, not on memory/speed etc.
They had to make a small exception for educational programming apps, but that isn't Firefox.
Edit: maybe this isn't entirely correct, Apple calls them WebKit APIs in their docs. Only the latest view is actually called `SFSafariViewController`
The Safari controller is for when you're linking out to an external web site and want the user to behave the way they would in a normal browsing session.