I disable SIP because I don't want to use an OS where I cannot debug programs which did not consent to be debugged. macOS makes it impossible to inspect failure states I encounter in normal usage (like I can on Linux with debuginfod enabled, or Windows with .pdb files) without first rebuilding the program in debug mode.
My experience is that I was unable to debug Maestral (a Python program) crashing in native Cocoa bindings in LLDB, because the interpreter did not allow itself to be debugged. Mozilla says Firefox acts the same way at https://firefox-source-docs.mozilla.org/contributing/debuggi.... It's possible there's some workaround I'm not aware of, but I ended up disabling SIP just like every non-macOS computer I own.
