similar app to Discovery - DNS-SD browser for macOS
It exists a utility Discovery - DNS-SD browser for macOS from tildesoft.com
It allows to see all Bonjour services on LAN.
Is there something similar for pfSense?
There is also Zeroconf Menu. A simple menu bar app providing links to available Zeroconf/Bonjour network resources.
I installed package avahi and tried "avahi-browse --all", but error is "Failed to create client object: Daemon not running".
Status/Services avahi Avahi mDNS/DNS-SD daemon is up and running (green).
How to see and use links to Bonjour services with pfSense like with Discovery and ZeroconfMenu?
Yes, this is intentional. There are no local mDNS browse clients for pfSense, so there isn't much use for dbus support on the firewall itself. Further dbus was the cause of a couple of significant issues, one being the minimum 5 second startup delay, and the other being a sporadic failure of Avahi to start at boot for many users.
If you want to see what is in the network, I would recommend doing this from a general workstation or laptop in the network. This will also give you a better view into the overall functionality of reflection. There are several tools that support this. If you are a Mac user, then there is a free application called "Discovery" that is pretty nice. For a Unix based system, you can use avahi-discover (GUI) or avahi-browse (command line). I haven't used Windows in many years, but I'm sure there are some decent tools there as well.