Firestoreで取得したTimestampを、Kotlinで扱うためにDate型に変換します。
簡単です。
MainActivity.kt
//FirestoreのドキュメントからTimestampデータを取り出す
val firebase_timestamp = document.data["timestamp"] as com.google.firebase.Timestamp
//Date型へ変換する
val date = firebase_timestamp.toDate()
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