Interestingly the beta for 73.0 [1] includes NextDNS as a second choice for DNS over HTTPS providers as well as Cloudflare.
[1] https://www.mozilla.org/en-US/firefox/73.0beta/releasenotes/
[1] https://www.mozilla.org/en-US/firefox/73.0beta/releasenotes/
They should have thought about this - it is possible to force resolve the individual domains in the NextDNS UI but that gets problematic fast.
If you just want to know how to toggle it normally in case something goes weird with one of the changes it's in the network settings part of the settings page.
edit: there is also the canary domain https://news.ycombinator.com/item?id=21825443