FireOS is still used on the Fire tablets, which appear to be one of the most successful non-Apple tablet around. At least successful enough for it to be on its 7th generation with yearly refreshes, anyway. Similarly FireOS continues to mostly track AOSP, with the Android 7.1-based FireOS 6 being the latest release.
I wouldn't be so quick to blame FirePhone's failings on FireOS vs. Google given the number of gimmicks FirePhone tried to do, like the weird 4 front-facing cameras doing pretend-depth on the UI. I think would be hard to definitively state FirePhone failed purely because of FireOS not being Google-certified. FireOS probably didn't help, sure, but I don't think it was FirePhone's exclusive failure point, either.