sudo apt install firefox firefox-geckodriver
pip install selenium PyVirtualDisplay xvfbwrapper

from pyvirtualdisplay import Display
from selenium import webdriver

display = Display(visible=0, size=(1024, 768))
display.start()

driver = webdriver.Firefox()
driver.get('https://erogol.com/')
driver.quit()

display.stop()

ref: https://erogol.com/setting-selenium-raspberrypi-23/