> How can I set up a machine to boot in UEFI mode when the running kernel was
> booted in legacy mode?

AFAIK it goes something like this:
- Use a GPT partition table, rather than MBR (you can usually convert
  from one to the other without reformatting, but that can require tricky
  fiddling, so if you can reformat go for it), with an appropriate EFI
  system partition mounted to /boot/efi.
- Install grub-efi-amd64 (or grub-efi-i386, of course), and
  "grub-install /dev/sda"
- reboot

You may need extra steps to convince your system to boot from Debian's
grub-efi, e.g. copying /boot/efi/efi/debian/grubx64.efi to
/boot/efi/efi/boot/bootx64.efi or selecting debian/grubx64.efi from your
BIOS's boot menu.

IIRC last time I did it, I mostly followed the recipe in
https://tanguy.ortolo.eu/blog/article51/debian-efi


        Stefan

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