Firmware lives on the hardware and exists to let the hardware do its job. Not getting detailed/accurate on this example, but firmware on a fancy LED keyboard might involve setting the right voltages and routing it to the LEDs.
Drivers live in your operating system and exist to tell your operating system what data to send to the hardware. On a fancy LED keyboard the driver might include codes that need to be sent to activate certain colors (and might live on top of the universal keyboard driver that lets your OS understand which codes coming from the keyboard correspond to which keypresses)
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