Hello John, I don't think this is possible for
Firefox/TenFourFox the way Safari does it because Safari uses data
from the OS X Address Book. You could try and enable "Remember
search and form history" in Preferences>Privacy>Use custom
settings for history(dropdown), but you'd have to fill in the form
at least once.
Unfortunately, things have been set as you suggested since the
beginning. The only thing I've found is a double-click in a field will
bring up the previous entry for that field, but nothing I've found
will fill the whole, previously visited, form.