@nomis-home43 You can leave it as layer3.
Config one port on the switch as a trunk. Tag all 3 vlans on that port.
Untag the vlans on any switchports you need for the networks, I think you said you only need 1 port per network so just do that.
In pfSense, go to interfaces/vlans. Add the 3 vlans to the LAN port, This is the equivalent of making that port a trunk, so remove any config you have on it.
Then go to Interfaces/assignments. On the bottom there's "available network ports". In the drop down, all 3 vlans will be there. Assign each vlan, one at a time, and they will be assigned an OPTx name. Click each OPTx, enable it, rename it, assign ip's as needed. Go to Services/DHCP server. You will see all 3 vlans at the top, click one, enable dhcp server and set range. Repeat for the other two.
Then set firewall rules on the new ports.
Should be good from there.