There is experimental UEFI menu support in LAVA pipeline V2 - it works on the lava-dispatch command line for an XGene Mustang with UEFI menu but there are problems with the submission through the UI with escape characters.
Juno devices have menu support in LAVA V1:
However, issues will persist:
1: Menus that use more complex structures will fail to parse - typically this will be if the menu uses curses of similar interface instead of line-based.
2: The current support is for a limited set of devices and UEFI builds and each one can require integration.
3: a UEFI shell is a preferred option for automation - many uses of the menus only use enough of the menu to get to a shell.
4. Unless you are actually testing the UEFI build, you can avoid UEFI entirely by pre-configuring something like grub on top and interacting with the a shell provided by that. Make a decision about whether the UEFI on these devices is something you are explicitly testing or simply using to get to a system that can run your tests. If you want to test both, consider having one device-type which uses an unchanging UEFI build and one device-type that updates the UEFI on each build. That device-type needs a way of recovering if the UEFI build is broken - that support depends on the hardware.
5. The aim with UEFI would be that it does become mostly unchanging and that it provides a common interface to the kernel across different device types. So for kernel testing, a static UEFI build is the right answer so that tests only involve one changing element each run.