In a post by Mozilla, they have announced that with Firefox 72, they will be taking active steps to cut down on these notification requests and popups. While prompts will still be there, they will be hidden with an icon in the URL bar, meaning that if you want, you can display it, but if you don’t have a need for it or don’t want to see it at all, it will stay hidden.
For the most part, a lot of times, you can surf websites without needing to deal with these prompts. There are specific instances where you might need to respond to it, like if you’re trying to get directions, you will need to share your location if you want more accurate results, but otherwise, you should be able to get by without responding to them.
Firefox 72 will only be released in January 2020, so you still need to wait a couple of months before you can get your hands on it.