It may be well-known, but I’m quite happy with Vimium C for keyboard-based browsing. It provides a sufficiently good set of Vim keybindings* and highlights all clickable elements when you press 'f', not just <a href> ones.

Firefox: https://addons.mozilla.org/ko/firefox/addon/vimium-c/

Chrome: https://chromewebstore.google.com/detail/vimium-c-all-by-key...

* not exactly the same with Vim