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iPXE supports a number of options via its menu syntax that likely would serve your purpose. Look at something very well done like netboot.xyz to see how advanced and proficient at hoop-jumping it can be.
We normally use bitbake for that, but that's because there are a lot of recipes we have to write. For simpler setups I've successfully used mkosi. It's fast, works quite well, is easy to create and can be quickly automated, especially if you just have to package some scripts.