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Finally found a fix how to stop firefox downloading each PDF to your local drive
(connect.mozilla.org)
A place to discuss the news and latest developments on the open-source browser Firefox
For me it still downloads and then opens it in firefox. In the description it clearly says: Choose how Firefox handles the files you download from the web (...). And I don't want it to download the file to my disk in the first place just store it in chache like a regular website.