They're not breaking compatibility, they're dropping it. That's a big distiction. There's likely very few places where this will result in concrete code changes. However, it will remove two substantial branches from thier test plan, which should free up resources for testing Firefox on Win7 and new Linux distros.
If you must continue to use XP, then carry on using FF3.0 or FF3.5. If, after Moz has dropped security enhancements to the versions that they support on your system, you still have a compelling reason to continue using the old OS, you're so far in the minority that supporting you doesn't make sense for any company to pay attention to you. You'll just have to do your computing in a clean room...