In Internet Explorer, the Favourites bar has little arrows next to each entry that allow you to open new tabs without having to left click. I can't seem to find anything like this for Bookmarks in Firefox. Sorry for posting this question, but I've searched your FAQ with no success.
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Holding CTRL isn't a solution. If anything, it's more inconvenient than right-clicking.
The beauty of the arrows on Internet Explorer, is that you can just hover over a link and open a new tab with a left-click. It's a very convenient way of going through bookmarks and opening them without right-clicking or pressing a key.
Thanks, that's very helpful. Although I note middle-clicking automatically takes you to the new tab, whereas Internet Explorer's arrows allow you to open new tabs in the background as it were.
Middle-click (press the mouse wheel) on the link or bookmark will open the page in a new tab.
Other issues needing your attention
The information submitted with your question indicates that you have out of date plugins with known security and stability issues that should be updated. To see the plugins submitted with your question, click "More system details..." to the right of your original question post. You can also see your plugins from the Firefox menu, Tools > Add-ons > Plugins.
Tools > Options > Tabs:
[ ] "When I open a link in a new tab, switch to it immediately"
Note that pressing the Shift key toggles while clicking a link opening in the background (Shift + left-click opens a new window). That applies to Shift + middle-click and Shift + Ctrl + left-click and context menu entries that would open in the current tab (e.g. View Image).