What you’re looking for is a headless-browser.
Yes, it’s possible to run Selenium on Firefox headlessly. Here is a post you can follow.
Here is the summary steps to set up Xvfb
#install Xvfb
sudo apt-get install xvfb
#set display number to :99
Xvfb :99 -ac &
export DISPLAY=:99
#you are now having an X display by Xvfb