That is blatantly false. The policy page here describes what is sent for each data feature in Firefox:
https://www.mozilla.org/en-US/privacy/firefox/
Mozilla does not have tracking cookies scattered through-out the web tracking you. Google via Google Ad's and Doubleclick does (as does Facebook via their social features).
Neither the Chrome browser nor Firefox sends "your browsing habits and all clicks and actions you performed" to their respective companies. If you turn on History sync, the clients encrypt all this data before uploading.
Disclaimer: I work at Mozilla.
edit: Chrome can send all history unencrypted to Google if you ask it to, under Privacy Checkup, Web & Web App Activity: "Include Chrome browsing history and activity from websites and apps that use Google services". Supposedly this is to make the search more relevant. This was unchecked for me by default though.