I noticed that the file /etc/udev/rules.d/70-snap.firefox.rules does not
have any rules for the Trezor devices.

In my Trezor rules file, /etc/udev/rules.d/51-trezor.rules, that can be
downloaded from https://data.trezor.io/udev/51-trezor.rules, I appended
the FireFox snap TAG to one of the existing lines to get, for example:

KERNEL=="hidraw*", ATTRS{idVendor}=="1209", ATTRS{idProduct}=="53c1",
MODE="0660", GROUP="plugdev", TAG+="uaccess", TAG+="udev-acl",
TAG+="snap_firefox_firefox"

Unplug/replug the device and then try again in FireFox. That worked for me.
So, the fix is probably for FireFox to include the Trezor U2F device configs in 
whatever winds up generating /etc/udev/rules.d/70-snap.firefox.rules

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https://bugs.launchpad.net/bugs/1947746

Title:
  [Snap] Ubuntu Firefox installed from snap cannot use Trezor U2F

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