Brave has superior fingerprint protection, they achieve this by randomizing the browsers fingerprint. Visit EFF's cover your tracks to test your browser.

To achieve the same functionality that brave achieves out of the box with Firefox I need many extensions and then when I profile both browsers, Firefox is more resource intensive. Brave's blocking is native to the browser. I will give Firefox the W because I've read that uBlock is technically more capable. But as a long time Firefox/uBlock user who switched to brave - this has not been noticable.

As for accessibility, I can configure brave to be really aggressive at ad blocking, tracking blocking, fingerprint blocking, and restricting JS even, and all those options I can set from one place instead of in different settings/extensions. When a website breaks, I click on the button next to the URL and immediately have options to granularly dial down the "protection" or add a website to my trusted list. In Firefox I was annoyed to having go through settings for the extension.

Brave plans to continue supporting Manifest V2 after Google kills it. For Ungoogled Chromium, however, it's still undecided, likely depending on whether UG contributors are willing to maintain it.