At one point I used and loved Vimperator and then migrated to Pentadactyl, but ultimately got fed up with Firefox's bloat and memory management issues.
I'd recommend checking out Firefox Aurora (http://www.mozilla.org/en-US/firefox/aurora/) - Firefox is really looking great these day. The new native developer tools are coming along nicely and hopefully will prove more stable than Firebug.
There's an Arch Linux dev that maintains a custom repo with Aurora builds and matching Aurora Pentadactyl packages in the AUR, for those on the distro.
You can mappings, like this one, which will take you from a comments page on Hacker News to the actual article:
:autocmd LocationChange news.ycombinator.com map g1 :js openUILinkIn($(".title a")[0], "current")<CR>
From https://github.com/aantn/castle/blob/master/home/.pentadacty...