I have a self-written set of userscripts that does this, as well as unsetting javascript link rewrites and including bitly link expansion and Amazon URL decluttering. I would love to be able to use it on Firefox for Android again, but I don't see them enabling e.g. Tampermonkey any time soon.

If any shortlink uses bitly as a backend, you can expand it yourself by copying the link and adding a "+" at the end, bringing you to the bitly properties page for that link.