Be sure to study up on Operational Security (OPSEC) too. This is the biggest way privacy is violated.

because I want to have normal interactions with people and companies and not have profiles built on me and ads served to me with every keystroke and click I make online.

If you block their trackers and third party ads, you have cut off their influence. uBlock Origin can do this by itself. Whatever data they gather is of minimal use if you do this, and you just have to avoid feeding them information directly.

I have Firefox Quantum with the aforementioned extensions installed. According to Panopticlick, my Firefox set up is better at blocking tracking than Tor

Tor is strictly for anonymization on the network. It doesn't do anything else.