This is what I’ve used in the past.
Copy the XPI file to a place, then create a profile that triggers Firefox to install it.
New Configuration Profile
Application & Custom Settings
org.mozilla.firefox
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
<key>EnterprisePoliciesEnabled</key>
<true/>
<key>Extensions</key>
<dict>
<key>Install</key>
<array>
<string>/Library/Application Support/company/FirefoxHighlighter.xpi</string>
</array>
</dict>
</dict>
</plist>
(Edit)
It looks like this should install it automatically and turn on extension updates
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
<key>EnterprisePoliciesEnabled</key>
<true/>
<key>ExtensionUpdate</key>
<true/>
<key>Extensions</key>
<dict>
<key>Install</key>
<array>
<string>https://addons.mozilla.org/firefox/downloads/file/4644082/passwork_self_hosted-2.0.30.xpi</string>
</array>
</dict>
</dict>
</plist>