If you care about privacy and don't mind dealing with fewer extensions and the occasional website not working right, Firefox is the pick. It's built for people who want to distance themselves from Google's influence, but you lose out on the massive extension ecosystem and run into more compatibility headaches since most sites and add-ons are built for Chromium browsers.
Vivaldi, on the other hand, gives you deep customization on top of the standard Chromium foundation, which means you get full access to Chrome extensions and sites work as expected. But unless you really want to tinker with absolutely every button and color, there's not much reason to pick it now, especially since its design feels outdated and the customization edge isn't as unique anymore.
For most people, Vivaldi is the safer bet purely because it avoids the compatibility and extension headaches that come with Firefox. Only go Firefox if privacy is your absolute top priority and you're willing to put up with the tradeoffs.