Is Puppeteer Firefox ready yet? - berstend/puppeteer-extra GitHub Wiki
Unfortunately no.
Basic features like page.evaluateOnNewDocument() are not implemented yet
puppeteer-extra technically supports being used with Firefox though
If automating Firefox is desired use Playwright instead of Puppeteer
Context
Playwright ships with a custom firefox build, which allows them to patch in functionality as needed
Puppeteer works with vanilla nightly versions of Firefox. They depend on the Firefox team implementing the Chrome Devtools Protocol and progress has been a bit slow