I don't understand this claim. If Mozilla is so awful at developing Firefox, why isn't anyone forking it? Open source is not an empty slogan
That said, I can recognize that developing and maintaining a browser is a massive undertaking while also acknowledging a project taken a turn for the worse. A lot of software these days has weird priorities (most involving cramming more ads in).
And if you apply your logic to chromium. It is being forked and there are many browser like Vivaldi, Brave, Edge etc.. Open Source is definitely not an empty slogan. If there is product A and B, people will choose A if A is better, easier to maintain and popular.
Actually there are some forks (Waterfox, Librewolf, Torfox, etc.), but they are focused on removing anti-features rather than on developing.