It’s a bit more complex on Firefox than the others I mentioned

1. There are a few possible extensions to add the sidebar tabs. This one is the one I use.
2. You need to edit the userChrome.css to remove the og tab bar. The top response here is quite helpful.
3. You want to enable the native title bar, as removing the original tab bar removes the window controls as well. The pictures in this guide are a bit outdated, but the instructions still work