For me at least, this issue happens because Firefox gets "poisoned" with
a future timestamp which can be created by Nautilus on Drag&Drop due to
a bug in GTK 4.

This leads Firefox to send _NET_ACTIVE_WINDOW with a future timestamp.
When Mutter gets a future timestamp, it does not currently reject it for
this event (see meta_display_timestamp_too_old(), which contains a FIXME
comment suggesting that future timestamps SHOULD be rejected). So it
accepts the message, raises the window and sends SetInputFocus to the X
server with the same timestamp. However, the X server rejects this focus
request due to the future timestamp, which leads to the observed
situation where the window is drawn focused while keyboard input stays
elsewhere.

See https://bugzilla.mozilla.org/show_bug.cgi?id=2053470#c3 for a more
complete write-up.

** Bug watch added: Mozilla Bugzilla #2053470
   https://bugzilla.mozilla.org/show_bug.cgi?id=2053470

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https://bugs.launchpad.net/bugs/2107678

Title:
  Wrong keyboard focus after switching window in Xorg

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