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You can use Firebase Auth with any framework. You don’t necessarily need to use custom auth. Typically, you would sign in the user on the client, get the ID token by calling firebase.auth().currentUser.getIdToken() and then pass the ID token to your server, verify it and parse its payload identifying the user ID and its other claims by using the Firebase Admin SDKs and then you can issue a session cookie identifying the user associated with that ID token.
On signout, you would clear that session cookie.
If you also need to persist that user on the backend after setting the session cookie, you can also use the Firebase Admin SDK to lookup a user identified by the user ID or just use the token claims to populate the user without any network call. You can populate that in the user model of associated framework if needed.
For more on session management, you can refer to this django documentation: https://docs.djangoproject.com/en/3.0/topics/http/sessions/