After some investigation, I found out this was a common concern and was tied to the way Gecko Driver was implemented.
That being said, there's a very easy solution to that, which is to set the DriverService host property to specifically listen to localhost.

$service.Host = '::1'
#... 
$Driver = [OpenQA.Selenium.Firefox.FirefoxDriver]::new($service, $Firefox_Options)

Performances after that change was made skyrocketed to be on par with other browsers 🎉 😄

(edit: It's a simple one, but I wanted to make sure to have an issue for it so I can add a mention in the final changelog)

Gecko driver abysmal performance #113

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