Does the VA consider cancer as service-connected if you were exposed to AFFF during your service?

Short answer: You’ll go through the standard claims process and must show:
1) You have an illness or injury;
2) That illness or injury was had a direct or indirect cause from an event;
3) That event happened during your military service.

Aqueous Film-Forming Foam (AFFF) is the “Firefighting Foam” that DoD (until very recently) and other fire departments use to put out liquid-based fires .. and does so incredibly well. The problem is that is contains polyfluoroalkyl substances (PFAS) which many studies have been associated with cancer and other health issues.

Because PFAS exposure is only considered to have a possible link to cancer*, the VA doesn’t have PFAS exposure on a presumptive list if you have health issues possibly related to it. This may change, as there are many studies and efforts* ongoing, but any possible service-connected issues are handled through the standard claim process.

Your first thing you should do is contact the VA and give an intent to file*. The next two things would be to contact a VSO to help you with the process and to contact the VA’s Environmental Health Coordinator* for your state to discuss if there are any studies or registries you should be aware of (I couldn’t find any related to the VA).
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* VA PFAS info page - https://www.publichealth.va.gov/exposures/pfas.asp
* DoD’s PFAS Task Force - https://www.acq.osd.mil/eie/eer/ecc/pfas/index.html
* CDC fact page on PFAS chemicals and suggestive linkage to cancer - https://www.atsdr.cdc.gov/toxfaqs/tfacts200.pdf
* Ongoing research - https://www.atsdr.cdc.gov/pfas/index.html
* Intent to file a VA claim - https://www.va.gov/resources/your-intent-to-file-a-va-claim/
* VA Environmental Health Coordinators - https://www.publichealth.va.gov/exposures/coordinators.asp

You listed yourself as an Army PVT, E1 type, 11B Infantry but you stated you were Crash Crew for the US Navy?

This is probably a good time to contact VA and start asking questions about this. It seems they pepper me with dozens of questions about exposure to various risks every time I go for an appointment. With the PACT act they are pushing hard to find those affected. Most of my time in the Middle East was as a govt civilian, ten years, and therefore my exposure isn't being 'counted', but it seems the VA (at least in MD) is trying.