You may have corrupt sessionstore [v56] sessionstore.jsonlz4 file(s). Delete all sessionstore* files and the sessionstore-backups folder.

Type about:support<enter> in the address bar.

Under the page logo on the left side, you will see Application Basics. Under this find Profile Folder. To its right press the button Show Folder. This will open your file browser to the current Firefox profile. Now Close Firefox.

Windows: Show Folder; Linux: Open Directory; Mac: Show in Finder

Linux: Under the page logo on the left side, you will see Application Basics. Under this find Profile Directory. To its right press the button Open Directory.

Locate the above file. Then rename or delete it. Restart Firefox.

Don't delete the files if you need to rescue any data from them, just move them out of the profile folder to some location where Firefox doesn't look for them. You can try to read out their contents using this tool: https://www.jeffersonscher.com/res/scrounger.html

In the absence of a solution, you could close all tabs bar one: [can I close all tabs at once without having to restart Firefox]

You also could look to see whether you have a user.js file in your profile folder which might contain a restore previous session command that gets reinserted at every startup. More info on that file in the following article:

How to fix preferences that won't save