Is there sufficient sandboxing going on under the hood with Firefox? I wrap it with firejail because I was under the impression that Firefox was lacking in that regard.
On Linux, as of Firefox 60, Firefox now uses Linux namespaces to isolate the various processes it starts from the rest of the system, where supported. https://wiki.mozilla.org/Security/Sandbox#Linux This is the same approach taken by Chromium. I can't say anything for certain about other operating systems, haven't really looked into it.
I suppose that doesn't answer the question of whether pdf.js specifically runs inside one of the sandboxed processes, but it seems very likely that it does.