NoScript goes a pretty long way to making the web usable again, especially on mobile (attn web developers: don't like people using noscript? it's your fault. fix it.). There's also this, although I can't vouch for it personally: https://www.i-dont-care-about-cookies.eu/
(There is also "Fanboy’s Annoyance", but it blocks more than just cookie notifications. For example, it blocks social media share buttons which I use a lot. So I don't use it.)
I use it on firefox and it works very well. I think it doesn't support every website out of the box, but I've never came across one that it didn't work well on.
The prompts were turning me crazy especially since I use a few privacy extensions that made it impossible for the websites to remember my settings. It meant even browsing the same website lead to one consent form per page I clicked...
