Verifying as fix on Firefox 96.0 release and beta 97.0b2. After visiting a page in Firefox on iOS device the hand-off is correctly received on desktop. Tapping on the hand-off icon from the toolbar will open the page from iOS in the desktop default browser.
Bug 1525788 Comment 7 Edit History
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Verifying as fix on Firefox 96.0 release and beta 97.0b2 on macOS 10.15.7. After visiting a page in Firefox on iOS device the hand-off is correctly received on desktop. Tapping on the hand-off icon from the toolbar will open the page from iOS in the desktop default browser.