You might not think of it as a boot menu, but every uefi system I have ever used has a menu you can bring up by holding a key during boot that lets you choose w

You might not think of it as a boot menu, but every uefi system I have ever used has a menu you can bring up by holding a key during boot that lets you choose which disk to boot from. In reality this menu has all the entries you set up in efibootmgr. You can also usually see this menu from the save and exit page of the setup/bios page. These entries are about as customizable as grub entries via efibootmgr.