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This question is regarding efistub booting.

I would like load the stock pre-compiled Ubuntu kernel directly from UEFI firmware its boot menu, using efiboogmgr.

Since which Ubuntu version can this be done without the need for a separate bootloader?

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    It can be checked with zcat /proc/config.gz | grep EFI_STUB – navigaid Aug 15 '17 at 2:54
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12.10 and newer

All Ubuntu kernels built since kernel 3.3.0 have included the EFI stub loader feature in the kernel. That means all Ubuntu releases since 12.10.

It can be checked with zcat /proc/config.gz | grep EFI_STUB

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