Are Firefox’s UX choices bad, or do you just want it to be another copy of Chrome and refuse to learn something new?
The fact that Firefox on Android actually supports extensions is more than enough reason for me to choose it over a chromium version.
It “working for you and not against you” in this case is mostly down to just getting used to it. It’s the same issue people have switching to Linux. Linux is the better and easier option, but if you expect it to work exactly like Windows then you’ll have a bad time. If you attempt to learn how it works then it’s great.
Firefox is fairly customizable, but most of that’s hidden and you need to do some searching online and digging. You can also use something like Floorp.