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Just about every Windows and Linux device vulnerable to new LogoFAIL firmware attack
(arstechnica.com)
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This is worse than many, since it persists across reinstalls and even potentially drive swaps, and fools systems such as secure boot.
If it's only on the ESP, it won't persist across reinstalls, and definitely not drive swaps.
But I do see mentions of attacking via firmware capsule. If that works, then yes, that will persist.
ESP is usually not cleared on a reinstall unless somebody takes the extra step to do so. Since each OS has its own directory within the ESP their installers don't push it. I was mostly referring to modification in firmware though.