I am using Firefox on Garuda with Plasma desktop. It tried to follow the accepted answer but in my case, it's slightly different but not intuitive.
Quick method
Right-click on the down arrow in the upper right corner of the window.
To be honest, you can right-click anywhere on the navigation bar which contains the search bar and extension symbols. However right-clicking on the text field bars will provide a different context menu.
In that context menu, just enable the "menu bar" checkbox.
The long way
Alternatively, the way described by Pierce Griffiths, you can do following.
First click on the common Hamburger menu.
Then click on "more tools".
The top option is the "customize toolbar" which contains the desired option.
(Well, if you paid attention to the context menu picture before, you might have noticed, can also select "customize toolbar" there, instead of immediately clicking on "menu bar".)
There, in the bottom left corner, you can also find it as a checkbox named "title bar".
conclusion
Just in case, your version doesn't support a certain way of showing the menu bar, I tried to show multiple ways to enable (or disable) the menu bar.