How can I click "Allow" in the pop up using Selenium with java? There is no way to inspect this pop up so I don't know the id, or name or xpath.
This is not an alert. This is a browser level notification.
There is currently no support for permissions prompts in WebDriver, though there is a draft of an endpoint to control them (as of writing, I believe no WebDriver implementation exposes them, and there is no Selenium API for them).
Firefox profiles are to blame. I suggest creating and configuring a profile for Selenium to use that suits your needs.