Thank you for asking your question in Microsoft Q & A.
Azure Firewall has built-in high availability in all tiers, including basic.
refer: https://learn.microsoft.com/en-us/azure/firewall/basic-features#built-in-high-availability
Also, there is no extra cost for a firewall deployed in more than one availability zone.
refer: https://learn.microsoft.com/en-us/azure/firewall/basic-features#availability-zones
To answer your question, yes, Azure Firewall will be deployed using two virtual machine backend instances for basic tier.
Refer: https://learn.microsoft.com/en-us/azure/firewall/overview#azure-firewall-basic