Theoretically hitting esc
at the VirtualBox logo during startup should drop you into EFI, but I can’t get it to work.
The following does work (https://github.com/geerlingguy/macos-virtualbox-vm/issues/46#issuecomment-647807097):
sudo nvram recovery-boot-mode=unused && sudo shutdown -r now
Not sure whether you need to
nvram -d recovery-boot-mode && shutdown -r now
to get out of recovery or whether recovery will just do that itself when you restart normally.