In case of Discord, the scan must be done by Discord App on the mobile, so it can authorize another computer to login to Discord. This is a site specific feature and browser can't help much with it.
The only scenario that comes to mind is:
1. user opens site.com on their laptop
2. user triggers something in Firefox to show QR code
3. user scans QR code on laptop with their Firefox on mobile
4. Firefox does it's magic and site.com login is filled on the laptop
But that scenario is a lot of extra effort, when user can just fill credentials stored in Firefox.