It's certainly true that using NoScript prevents most browser exploits (though not all), and that if you're strongly concerned about privacy, you should use it. And make sure not to disable it for any trusted darknet sites, since as this article reminds, they have a habit of being compromised... I'm not trying to be sarcastic - this is totally reasonable for many use cases.
But the default browser bundle leaves JavaScript enabled by default for good reasons[1], and if you want higher security with JavaScript enabled and/or against non-JS exploits, Chrome's process sandbox is a big deal, and will probably keep it significantly more secure than Firefox for a good amount of time.