I did the same test on my M1 Air. Safari is using 40% CPU while Firefox is 55%. Not sure why there's such a large difference between your results and mine.
Firefox 88 (no extensions, private mode):
CPU% 55 (avg) 61 (peak)
GPU% 65 (avg) 77 (peak)
Safari (no extensions):
CPU% 33 (avg) 40 (peak)
GPU% 33 (avg) 40 (peak) <- same numbers for both CPU and GPU in safari.
Chrome: ~20% Safari: ~35% Firefox: ~45%