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Re:Qutebrowser – a keyboard-focused browser with a minimal GUI by jboynyc on Friday October 13, 2017 @05:27AM (#15464190)
While not a full replacement, QuantumVim is better than nothing:

https://addons.mozilla.org/en-US/firefox/addon/quantumvim/

Re:Qutebrowser – a keyboard-focused browser with a minimal GUI by The-Compiler on Friday October 13, 2017 @07:18AM (#15464642)
QuantumVim hasn't seen any activity in the past year: https://github.com/shinglyu/QuantumVim

But there's Saka Key, Vimium-FF and Tridactyl.