Mozilla is unhappy because the use of browser engines other than WebKit will be restricted to the EU, forcing them to develop two different apps.
For an independent browser like Firefox, managing two browsers is not easy, so it can be forgiven that this could be seen as almost harassment.
Also, the fact that the use of browser engines other than WebKit is limited to iOS means that the use of WebKit is still forced on iPadOS, which also increases the effort for Mozilla.
The Orion browser for iOS/iPadOS supports both Firefox and Chromium extensions, however, the support is quite buggy and limited. Nonetheless, a valiant effort by Orion devs.