I came to this post searching for a similar issue. On my setup, I do see what he is seeing, but without running youtube video running on an older Skull Canyon NUC with 16GB of RAM.
Running fully updated Xubuntu 22.04 and the latest Firefox snap, having 4 pinned tabs open would peg out just over 1 core constantly per htop (about 128% constantly). The tabs were gmail, feedly, YNAB, and personal capital sitting static. If I left my browser open, I would come in the office with the fan going pretty hard. Close the browser, immediate cooldown.
As mook765 pointed out, You can install firefox via PPA. I tried this with firefox-esr 102.8.0esr, and right now with those 4 same tabs open, depending on how much I'm typing into this window, I'm only using between 0.5% and 3.2% with small spikes higher.
My experience is anecdotal, but I would say your answer would be to try the PPA. If 'rapid' firefox from the PPA shows the same issue, it might be some of the newer features that need to have bugs ironed out, and then I'd file a bug report with Mozilla, and then try the ESR to see if that alleviates. I didn't try the rapid, as I like ESR versions, and their stability. Were this my issue, I'd flag mook's comment as the answer.