Yes.

There are TLS settings prefs on the about:config page that specify the minimum and maximum TLS version.

• security.tls.version.max = 3 (TLS 1.2)
• security.tls.version.min = 1 (TLS 1.0)
• 1 means TLS 1.0; 2 means TLS 1.1; 3 means TLS 1.2; 4 means TLS 1.3;

• http://kb.mozillazine.org/security.tls.version.*

You can open the about:config page via the location/address bar. You can accept the warning and click "I accept the risk!" to continue.

• http://kb.mozillazine.org/about:config

Note 52.5.2 ESR is the current version as 52.3.0 ESR is a old version that came out when Firefox 55.0 did.

Firefox 52.8.0 ESR out in May 2018 will likely be the last update for 52 ESR and last version to support WinXP/Vista.