I really like the simplicity of the Firefox pdf viewer but sometimes it absolutely butchers printing. It also still needs fill able form support. Come on Mozilla!
Firefox is my standard browser but it is completely unusable for printing anything; I always have to switch to Chrome to print.
Try and select "Print" from the menu instead of Ctrl+P. Instead of bringing up the system print dialog, this brings up an interface where you can tweak the print layout. No idea why it isn't the default view when pressing ctrl+p. At least there I feel it's basically the same as Chrome when printing.
On my Linux system Ctrl+p and File->print are the same dialog box.
Mozilla is fixing a lot of Firefox printing issues for Firefox 81 (September 22 release date).