Well, outdoor temperature determines the heat load demanded of the radiators, and lower exhaust temperatures for a condensing boiler mean more condensing takes place.
So unless/until the circulation pump starts to dominate, one wants to run the water in the heating loop towards the radiators as cold as will still suffice (though cold here is more important for heat pumps; the boiler cares more about how cold the water leaves the radiator), and often have a rather small temperature delta between the inlet/outlet ports of the radiator loop heat exchanger in the boiler.
Theoretically it could use feedback from all the thermostat valves (and adjust the burner to keep the most-open valve near (but not at) 100% flow), but that requires feedback from all valves rather than just an outdoor temperature probe and a parametric mapping curve that depends on radiator style, desired indoor temperature, and building insulation.