I’m not seeing a way to choose a different default browser in the Gmail App's "Settings" dialog and I want to use Firefox:
How can I circumvent Google's restriction on opening links in Gmail using only Chrome or Safari on iOS 13.3 or iPadOS 13.3?
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The only way I found was through the "Share" facility. Basically, the procedure is to add Firefox (or a another browser of your choice) as a sharing option so it can be selected when the link in a Gmail message is long-pressed.
The following illustrated procedure uses Firefox to modify the list of apps available as a source to share with to add Firefox. However, you can add Firefox as a sharing source from some other app if you care to. Procedure will still be the same. Please note the images are cropped to only show the parts of the interface you need to work with
Using a Gmail message, I'll now illustrate how you can open links with Firefox using a long-press on the link:
That's how you can circumvent Google's restriction on using a browser other than their own and Apple's Safari. Hopefully a future version of Gmail will make all this unnecessary, but until; they do...