My V5.1acrylic (with the nice displays) can boot a media player OS and work as a normal Linux tablet-box now and then, depending on the USB stick with alternate OS I put before boot.
Every boot time there has been that lengthy delay penalty, which almost made me build another Pi 5 with a nice sound card and use Zynthian alone on the V5.1acrylic.
Long story short: I searched the internet and found some tags for faster boot times:
[all]
HDMI_DELAY=0
BOOT_UART=0
NET_INSTALL_AT_POWER_ON=0
NET_INSTALL_ENABLED=0
USB_MSD_DISCOVER_TIMEOUT=5000
BOOT_ORDER=0xf164
This has been edited via SSH (or Webconf terminal) using
sudo -E rpi-eeprom-config --edit
reboot
Now there is almost no visible delay between booting from USB, NVMe or µSD.
Without USB stick is no penalty no more.
Nice.
It should be documented in the Wiki.
Here is some more documentation of EEPROM config:
https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#raspberry-pi-bootloader-configuration