See the GH pullrequest. The spec had an incorrect change applied when "Go" was renamed to "Navigate To" and then subsequently missing defintions was removed causing it to link to the generic navigate. Thus firefoxs behaviour is incorrect. the prompts should only be dismissed on close or "navigate to" (aka explicit navigation not implicit).
Bug 1693857 Comment 9 Edit History
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See the updated GH pull request. The spec had an incorrect change applied when "Go" was renamed to "Navigate To" and then subsequently missing defintions was removed causing it to link to the generic navigate. Thus firefoxs behaviour is incorrect. the prompts should only be dismissed on close or "navigate to" (aka explicit navigation not implicit).