AFAIR the issues with GPS on SFOS@XA2 began when Mozilla stopped support for online position lock. So I see a chance that A-GPS via Mozilla’s online position lock may hide HW issues of the GPS device. As Android uses it’s own A-GPS service I guess this would hide our possible HW issue as well.
It seems that GPS works much better / quicker on other phones running SFOS, which makes me believe that @vige 's assumtion is right.
So may I suggest you deactivate online position lock on your Android phone and try out how GPS behaves?