Instead of using expo-dev client, I continued to use expo go, and I downgraded firebase by uninstalling and reinstalling:
"firebase": "^9.22.0"
I then deleted node_modules, package-lock json, and reinstalled npm.
After that, I simply added the following line in my metro.config.js file:
const defaultConfig = getDefaultConfig(__dirname);
defaultConfig.resolver.sourceExts.push('cjs');
// This is the new line you should add in, after the previous lines
defaultConfig.resolver.unstable_enablePackageExports = false;
After that, I didn't seem to get the error "Component auth has not been registered yet". You may still be able to use a newer version of firebase, but for safety, I downgraded it to 9.22.0, but you can definitely try a newer version, and see if it works.