You can get names, folder, and ordered by date added in a nice JSON format:

    sqlite3 -json /tmp/places.sqlite '\
        SELECT p.url, b.title, (SELECT f.title FROM moz_bookmarks f WHERE fk IS NULL AND f.id=b.parent) AS folder \
        FROM moz_places p \
        INNER JOIN moz_bookmarks b ON b.fk=p.id \
        ORDER BY b."dateAdded"'

The full folder structure might be a bit more complex to get, I only have them on the top level and can’t experiment. Not sure what the keywords, never used such a thing.

I only rely on the title, and I’ll extract the text content of the link for a full text search through it because usually I’ll remember something from the contents and will try to search that instead of something from the title. I can’t predict what I’ll remember.