Say what you want about Brendon Eich, but I wish he forked Firefox for Brave. That's the kind of effort that Firefox deserves, because it's by no means a bad browser. Putting aside some relatively minor performance issues (that don't manifest with average use), it's a great browser and I hope it sticks around for the sake of still allowing a good level of ad-blocking and such.
And yes, Firefox pretty much still exists in this form because of Google. That relationship has also accelerated the decline of Mozilla.