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Want your private browsing to stay truly private? Firefox for iOS can automatically close private tabs when you leave the app. Just do the following:

Tap the menu button at the bottom of the screen (the menu will be at the top right if you're using an iPad):
Tap Settings in the menu panel.
Scroll down to the Privacy section and tap the switch next to Close Private Tabs to turn it on (blue means on).
Tap Done at the top right corner to save your changes.