From phetsims/quadrilateral#437, it was discovered that Firefox does not start sound from keyboard events. You have to activate a button with a click event (or another activating event) first.
Maybe some iteration this can be investigated with extra common code work. As suggested in phetsims/quadrilateral#437 (comment), that might include a bug report to Mozilla.
This is related to #179 (same problem, different input/browser).
Another long term solution could be to add a "Start" button to all PhET sims that initializes media.