I noticed today that Firefox has a whole button that just wholesale imports a chrome profile you had set up. It includes your browser history, bookmark arrangements, and even most of the saved logins.
The only thing that's a little finicky is that if you want to have a bunch of different profiles that are all logged into different accounts set up for different contexts - for example, I have my main, a second one for when i need to manage my parents' emails, and a third for work.
By default Firefox's profile manager is a weird little subpage, as if Mozilla is trying to de-emphasize the functionality.
You can access it a help topic about it here: https://support.mozilla.org/en-US/kb/profile-manager-create-remove-switch-firefox-profiles
You can create a new profile, then log into the relevant accounts and it'll be treated like a new browser window. But it's still fiddly, and you can't, say, assign a custom icon or color scheme for different profiles or switch profiles easily in the UI like Chrome and Edge can.
There's actually an easier way to do that!
You can use the containers functionality in Firefox -- you don't need multiple profiles, you can actually have a single profile function as multiple things!
It's INCREDIBLY useful. There's also "Trash Containers" as a separate addon, for single-use, disposable containers that tend to function really nicely as "private browsing without being private browsing".
There's a specific extension for Facebook Containers, too, which auto-segments all Facebook traffic to prevent all of their tracking.