If you want to access Firestore from iOS, you will still have to go through the Firebase console to add your app to the project and generate that plist file.
What you probably don't realize is that a Firebase project is just like a GCP project. Every Firebase project IS a GCP project, just pre-configured with some services and APIs enabled. Read this blog for a full discussion. If you created your project via the Cloud console, you can just as easily access the very same project from the Firebase console.
Your Firstore instance is 100% the same, no matter how you access it. All the same data and scaling behavior that you expect from Firestore. The only differences lie in how Firebase client apps add special mobile functionality. Read this blog for a full discussion specific to Firestore.
Bottom line is that, for use with mobile apps, you should still use the Firebase console to set that up. You can use both console together at the same time. They show almost entirely the same data, but Firebase is simplified for mobile-centric use.