Using this test website, Firefox offers no way to proceed past the HSTS error:
https://subdomain.preloaded-hsts.badssl.com/
Vivaldi allows you to continue by clicking a proceed:
Chrome and Edge allow you to proceed by typing "thisisunsafe"
It would be handy to let us bypass these warnings (at our own risk), similar to how we can add exceptions to sites with invalid certs. It's not a common use case, but coming across one of these means my only option is to use Chrome/Edge/Vivaldi.