The short answer is that you can't. The answer you found was from 8 years ago, and has nothing to do with Firebase -- it just refers to starting a regular service as sticky. Firebase has its own service as a part of that library, and you can't change how it starts.
Your second issue is that Google has systematically removed the ability of apps to always run in the background over the past couple of API versions, although there a few hacky workarounds, as described here.
And finally, they explicitly don't want an app to be able to "wake up" if the user intentionally shut it down (like swiping it away from the recent apps list).
Having said all that, you don't actually need to have your app running in the background. FCM notifications are designed specifically to handle these kinds of scenarios. I'm guessing that you're just using them incorrectly. You need to set up FCM notifications to be shown to the user (and not be hidden), and when the user opens that notification, it'll "wake up" your app. In your Manifest, add the following to your Application:
<application
...
<meta-data
android:name="com.google.firebase.messaging.default_notification_channel_id"
android:value="@string/notification_channel_name" />
...
</application>
You'll also need to create a dedicated notifications channel, and in my example, @string/notification_channel_name
refers to it.