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Firefox is not available on my Nvidia Shield Android TV either. So seems like Mozilla just does not want to have a browser on TVs.

There would be something other at play, as no other browser - Chrome, Opera, Edge, Vivaldi, Brave - is available for Nvidia Shield either.

FWIW, it works fine if you grab the apk and install it yourself.

I use the Chrome Canary channel on my Shield, and it works OK.