Installing firefox-esr from Mozilla binaries
start the terminal and then
wget https://download-installer.cdn.mozilla.net/pub/firefox/releases/91.1.0esr/linux-x86_64/en-US/firefox-91.1.0esr.tar.bz2
sudo tar -xf firefox-91.1.0esr.tar.bz2 --directory /opt
sudo ln -s /opt/firefox/firefox /usr/bin/firefox-esr
sudo su and create a file firefox-esr.desktop
cat << EOF > /usr/share/applications/firefox-esr.desktop
[Desktop Entry]
Version=1.0
Name=Firefox ESR
Comment=Browse the World Wide Web
GenericName=Web Browser
Keywords=Internet;WWW;Browser;Web;Explorer;
Exec=firefox-esr %u
Terminal=false
X-MultipleArgs=false
Type=Application
Icon=/opt/firefox/browser/chrome/icons/default/default64.png
Categories=GNOME;GTK;Network;WebBrowser;
MimeType=text/html;text/xml;application/xhtml+xml;application/vnd.mozilla.xul+xml;text/mml;x-scheme-handler/http;x-scheme-handler/https;
StartupNotify=true
Actions=new-window;new-private-window;
[Desktop Action new-window]
Name=Open a New Window
Exec=firefox-esr -new-window
[Desktop Action new-private-window]
Name=Open a New Private Window
Exec=firefox-esr -private-window
EOF
If you want to use your manually installed Firefox-esr as the default Alternatives browser (x-www-browser), run
sudo update-alternatives --install /usr/bin/x-www-browser x-www-browser /usr/bin/firefox-esr 200 && sudo update-alternatives --set x-www-browser /usr/bin/firefox-esr
Versions in other languages at the link
https://download-installer.cdn.mozilla.net/pub/firefox/releases/91.1.0esr/linux-x86_64/