As long as your client's are receiving Pi-hole's IP as DNS server and they are able to connect to that IP, any network configuration will suffice.
I can't know if the documents you've linked to will help you in creating a working configuration, for the simple reason that I don't know your network and I am not familiar with Firewalla at all.
However, I can say that two DHCP servers may coexist on the same segment/link and manage the same subnet if they are configured for DHCP pools that do not overlap.
In addition, you'd have to make sure that the DHCP server that hands out Pi-hole attracts all clients.
You'd normally do so by restricting the other DHCP server's DHCP pool to exactly those few entries that need a fixed DHCP lease (aka DHCP lease reservation) from it, and if you can, you should define those before bringing in the second DHCP server. Often, the machine running Pi-hole is the only one with such a lease reservation.
With the DHCP pool restricted and all IP addresses leased, any further request for a DHCP should then go unanswered or denied, leaving the otgher server as the sole remaining source for a DHCP lease.
I take it that this is (almost) what you expect your configuration to be already, judging from your following remark:
(Almost, as your DHCP servers don't share the same subnet. That may well be intended by you, though.)
However, your debug log shows both DHCP servers are actually offering an IP address.
So either your restricted DHCP pool is not as small as you think, or your Google router is not respecting your restricted configuration, or your Google router is not among the DHCP servers on Pi-hole's link, i.e. it's on a different network segment.
My (somehow generic) advice would still be the same:
You'd have to sort both your DHCP and your subnetworking issues to have your clients make use of Pi-hole as their DNS server.
Apart from the additional analysis, I can't walk you much further. We're good here at solving and assisting with Pi-hole problems, but yours looks like a networking issue.
It may be time to consider Dan's earlier advice: If Firewalla is a paid product, it could be worth to consult their support channels to solve any issues you have with them specifically. I can't tell though whether your issue is still basic networking or already related to Firewalla.
There may be users around that also run Firewalla and a Google mesh network, so you should consider to alter your topic's title to include those key factors to increase chances they read it and share their experience.
To that same end, I've moved your topic's category to Community help.