Find the .desktop file for the desired program (should be in /usr/share/applications) Right click, properties, then somewhere in that window, it should show the exact command that the .desktop file invokes when launched. In that command should be the actual program name (ie, /usr/bin/firefox-esr, firefox-esr is your program name).
Alternatively, right click, “Open With”, choose a text editor, then you’ll see a couple lines of information. One of those lines of info should be that command as well.
Edit, to be fair, I’m also not a fan of Gnome’s obfuscation of program names. It may make sense for very new users, but I also found it counterproductive in certain use cases