Ad David suggested, getting a packet capture will help you determine if the 
discover packets are reaching your Kea DHCP server when not using a DHCP relay 
on your pFsense firewall.  On the surface it would appear that your Kea host is 
not seeing the broadcast packets on the three VLANs since you mention Kea 
“somewhat” works when using your DHCP relay.

The most recent version of pfsense also includes the latest stable Kea 2.4.1 
version.  Not sure of your requirements, but you may want to consider using the 
Kea DHCP server on your pfsense gateway/firewall to simplify setup.  Note that 
pfsense has not implemented means to to configure all Kea features yet, but if 
you’re not using things such as DDNS updates from Kea, the pfsense version may 
suit your needs (and it’s more current than version you’re currently running).

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