I'm using Firefox 78.11 esr. It only seems to make the change if it can't access the http address. One example of where it could happen for me is if I reboot a device and try to access its web page a bit early. I do want to retry the same http address again in a few seconds rather than have the browser make the https attempt.
https only would be a no go for me. Some of my devices only provide http interfaces and those that do offer https would rely on self signed certificates. The latter is not a big problem but you have to OK security exceptions (which I make permanent) in the browser.
I did have a play (using the method outlined here) with Let's Encrypt a month or so back and may even have a pi4 producing valid certificates. I've never gone back to check... The LetsEncrypt ones should have been good for the Alexa project I had in mind and would suit the unlikely event of me trying another web project but don't suit a situation where you would have to manually upload a certificate to a device. A lifetime of 3 months is too short for that.
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sj