Waldron always had a knack for making complex music sound simple and “right”. ‘Fire Waltz’ starts out sounding like a straightforward minor key waltz but quickly becomes harmonically ambiguous. In fact, the piece never actually resolves to any key. How one looks at the changes when preparing the song for improvisation is a personal choice. 
It could be seen as a series of V-I chords or the G – C – F – Bb could be a modified VI – II – V – I  repeated with G as the target in the b-section (bar 13).

‘We should also mention the lovely “displaced surround” in bar 4. It fits Dolphy’s approach perfectly.