Choose which browser to open link in

I am using both Firefox and Google Chrome with multiple windows (profiles). When clicking a link in e.g. a terminal or another GUI app I'd like to choose which browser/window to load the URL in instead of running the default browser (e.g. Firefox). Does anyone know if such a program exists? From my (limited) understanding I think it should replace the default browser and show a popup with known browsers and/or active windows where the link should be delegated to. If found [this answer](https://unix.stackexchange.com/questions/333967/auto-detect-already-open-browser-instead-of-opening-default-one) , but it is only looking for existing processes and starts a default one if none is found.