Turns out this is an issue with some of the more recent versions of Firefox. At first I was advised to downgrade FF but instead I chose to switch to chromedriver instead (I used the chromedriver-helper gem) and everything worked perfectly.
Interesting side note, one of the reasons it took me so long to figure this out is because I was trying to trigger the focus of the input field in the Chrome console, as a way to figure out what code I needed to use in my tests. The problem with this is that apparently when you have the console open in Chrome you can’t take focus away from the console! So whatever method I tried to use to focus on the input field from the console was overridden by the fact that the focus was on the console itself. I got around it in the end by putting the focus code in a click event and attaching it to an element on the page. Then I closed the console, clicked on the element and focus shifted to the autocomplete input field.