I can't say that I could agree Firefox's privacy options are hidden/behind menus. I downloaded a fresh copy of Firefox today and the privacy features were quite encouraged and are even the main focus of the Security / Privacy tab.
Brave is an excellent browser but it is only a matter of time until the remaining features are brought over to Firefox. Not to mention some feel they aren't "out of the grasp" of Google until they're fully away from Chromium.