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Some modern laptops support only UEFI booting, when booting from internal hard drive. Does LILO/eLILO support UEFI booting?

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Yes. "e" in "eLILO" stands for "EFI".

But then (U)EFI is an OS in itself, you can boot Linux directly from it, no bootloader needed:

https://wiki.archlinux.org/title/EFISTUB

> But then (U)EFI is an OS in itself

Would it be accurate to describe (U)EFI as being like MS-DOS (i.e. single-tasking), but running in protected mode?

Indeed, UEFI is the modern DOS.

UEFI technically isn't single-tasking, it has a task scheduler.

Yes, eLILO was made for this purpose. I still prefer it to GRUB, though EFISTUB is an option as well for those who don't want or need either, as long as your particular UEFI supports it.

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