It's the websites that use that RAM, not the browsers.
(Often the ads on the websites.)
And it’s the applications using web browsers as their UI kit that are the worst offenders in my experience.
I disagree, there is low-hanging fruit Firefox is leaving on the table. The main thing that comes to mind is tab unloading. They don't unload tabs automatically like chrome can.
I was pleasantly surprised at the tab unloading settings under "memory saver" in ungoogled-chromium.
Browsers still have a lot of memory usage on their own.
I am running Arch Linux here. When I boot my machine into a full desktop environment it uses 1.1 GB of memory total, for everything.
If I open Firefox, it in itself uses about 1.3 GB to have Firefox open with just HackerNews in 1 tab. I have no extensions except uBlock Origin.