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Currently, there doesn't appear to be a user-friendly way to change the keyboard shortcuts on Firefox without extensions, regardless of OS. It might be a good idea to upvote [this post on Mozilla Connect](https://connect.mozilla.org/t5/ideas/customizable-hotkeys/idi-p/4979), and maybe it might be added into Firefox in the future.

There are, however, three options.

**Using an extension (easier, Firefox only)** \
The [Shortkeys extension](https://addons.mozilla.org/en-US/firefox/addon/shortkeys/) appears to allow shortcut modifications. However, it has severe limitations, as the developer notes:

 > shortkeys only works in the context of a loaded page. What does *NOT* work is: new tab page, addons page, or any other internal pages such as about:config,about:newtab,about:addons, etc.
shortkeys cannot override Firefox default shortcuts such as: ctrl+j, alt+d and
others using the "Do nothing" action *outside of the webpage* e.g. the default firefox chortcut [sic] will still work in the url bar/ search bar
shortkeys does not work in the url bar or the search bar, it only works in the context of a webpage
shortkeys will start working when the page has finished loading, not *right* after you opened a page, or clicked a link (this annoys me, too, but yeah - API Limitation:(

**Using kinto (easier, works outside of Firefox)**

As suggested by samcarter in the comments, [kinto](https://github.com/rbreaves/kinto) remaps shortcuts using the CTRL key to the meta key. It appears to work systemwide, and may work for OP's case, but I don't have a Mac to test it on. This would work outside of Firefox, hypothetically. However, as OP noted in that comment thread, it is X11-only.

**Using autoconfig (harder, Firefox)** \
If you're willing to tinker a bit, you could [use an autoconfig file](https://support.mozilla.org/en-US/kb/customizing-firefox-using-autoconfig) to do the work for you. This may have its limitations, but it's worth a shot.