For example, right now I have an old armhf i.MX6 Wandboard Quad that runs:
U-Boot -> UEFI (with Secure Boot if desired) -> Systemd Boot (or Linux EFI Boot Stub) -> Debian (or other distro)
That same layout should be doable on any U-Boot¹ supported device.Some arm devices such as the i.MX6, are strict on the placement of their boot firmware where it would interfere with a normal GPT table. One solution to this is to use a special "--move-main-table" option in gdisk² so that the GPT doesn't clobber U-Boot. While technically GPT is optional as long as U-Boot can read your main partition, I still always setup GPT anyway or Systemd Boot complains.