It kicked me out on Firefox 152 over Android 13, but only until I enabled desktop mode. Actual desktop Firefox seems to work too. And others say Safari works even on iOS. So they're effectively just blocking non-Chrome Android. Not sure if that's all they intended to block or simply all they're succeeding at blocking.
Here is a Firefox bug report about the issue: https://bugzilla.mozilla.org/show_bug.cgi?id=1944219. Mozilla has a User-Agent override intervention for Zoom on Android, but it's currently only in the Firefox Nightly builds.