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Just about every Windows and Linux device vulnerable to new LogoFAIL firmware attack
(arstechnica.com)
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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.