Depends on the layer your firewall operates.
Wiki https://en.wikipedia.org/wiki/Firewall_(computing)#Network_layer_or_packet_filters:
Network layer firewalls, also called packet filters, operate at a relatively low level of the TCP/IP protocol stack.
They basically check IP address and port.
Many modern products also work at application layer and with technologies like content filters - they can see the entire request - including the request parameters (but they would also see your post body).
By using HTTPS your query parameters are encrypted (check Is an HTTPS query string secure?). In this case the firewall can't access these parameters. In practice there are e.g. corporate proxy scenarios where even HTTPS requests are intercepted, checked and re-signed by a trusted certificate. In these scenarios content filters can even see encrypted query parameters/ request information.
Hope that helps!