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As not to spoil anyone I'll cut away. I loved the ending, where Mal just kicks the henchman into the afterburner and then starts his speil on the next guy. Mal and the crew (except maybe Jayne) definitly have their own set of morals---stealing is okay, but not from people who really need the medicine, and oh! If you don't do what we'll just kick you into the afterburner.
The Alliance kind of reminded me of the Empire (from Star Wars) I think it was the grey uniforms. I got a combo vibe of Dru & Fred off River. I want to know more about the companion, like what she's doing on the ship, she has a shuttle. Over all I liked the way it looked, Western and lived in and not sterile. Farscape had the same look. I'm too used to Star Trek's shiny surfaces.
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Ironically, the original Trek was conceived as a Western in space (I believe Wagon Train in space was Roddenberry's phrase), but I know what you mean. The Trek universe is cleaner than Disneyworld 5 minutes before the gates open, even in places that should be dirty.
I didn't, however, think Firefly had much in common visually with Farscape, which comes across so deliciously vivid -- cinematic, some of the Save Farscape folks have called it, aptly I think. One thing about Westerns is that they always seem hopelessly, inescapably Hollywood, even when they're shot on location instead of on a studio set.