I would like to transfer my Firefox mobile bookmarks to my desktop and would prefer doing it without using Firefox sync or any cloud-based extension.
Is there a way to export Firefox for Android bookmarks to an HTML file?
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As of 2019, Firefox for Android has no built-in support for exporting bookmarks.
However there are some workarounds/alternatives:
I do not have enough reputation to add a comment to Paul Benedict's answer hence I am forced to add this "comment" as an answer...
Paul's "Workaround/alternative 1" (which links to the "Chosen Solution" on the Firefox Support Forum) suggests using "Firefox Sync for Android" (and yes, I do realise that the OP explicitly requested a solution that does not involve using Firefox Sync). This will NOT work as desired, because although you can sync your mobile bookmarks over to desktop firefox, Desktop Firefox's "Export Bookmarks to HTML" does NOT "export mobile bookmarks when exporting as HTML" (note that bug is almost 3 years old now).
For anyone who do not object to using Firefox Sync, either: