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Welp, I tried AdGuard again and it still doesn't work with Firefox. Safari blocks ads just fine but Firefox still shows them.

iOS content blockers only work with Safari.

Adguard Pro in VPN mode works system wide on iOS. I personally use this filter list https://github.com/StevenBlack/hosts

That's not entirely true, it also works in apps that embed safari (e.g. twitter's in-app browser).

I didn't see any ads in a quick test with Firefox on iOS, but maybe that was Firefox's tracking protection, not a content blocker.