In ipmitool 1.18.17+

$ ipmitool -I lanplus -U xxx -P xxx -H X.X.X.X chassis bootdev pxe 
options=persistent,efiboot
Set Boot Device to pxe

$ ipmitool -I lanplus -U xxx -P xxx -H X.X.X.X chassis bootparam get 5
Boot parameter version: 1
Boot parameter 5 is valid/unlocked
Boot parameter data: a004020000
 Boot Flags :
   - Boot Flag Valid
   - Options apply to only next boot
   - BIOS EFI boot
   - Boot Device Selector : Force PXE
   - Console Redirection control : System Default
   - Lock Out Sleep Button
   - BIOS verbosity : Request console redirection be enabled
   - BIOS Mux Control Override : BIOS uses recommended setting of the mux at 
the end of POST

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https://bugs.launchpad.net/bugs/1642298

Title:
  UEFI Xenial install sets computer to boot from hard disk

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