Setting network.automatic-ntlm-auth.trusted-uris and network.negotiate-auth.trusted-uris in about:config to a comma-delimited list of domain suffixes does the trick in a Windows environment.
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Automatic Windows Authentication in Firefox
Setting network.automatic-ntlm-auth.trusted-uris and network.negotiate-auth.trusted-uris in about:config to a comma-delimited list of domain suffixes does the trick in a Windows environment.