For anyone who's interested, I installed systemd-boot as per the link
above, but my ESP partition was too small (Windows creates a 100Mb
partition but a 1Gb is more useful for dual boots). So, I created a new
ESP on my second disk, and pointed efibootmgr -d to use it. Eventually,
this seems to at least boot Windows and Ubuntu now, so some progress. I
haven't got to removing grub and lilo yet (as per the second link
above), so we'll see how well Ubuntu updates...

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https://bugs.launchpad.net/bugs/1910571

Title:
  menu-selection keys do not work (intermittently, but frequently making
  boot choice impossible!)

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