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There's a program called startupmanager that helps with configuring GRUB.
There is no reason you couldn't select the drive to boot from in BIOS. I think using GRUB is an easier, more elegant solution though. I have GRUB set up to give me 5 seconds to hit a key and select Windows on my laptop (although I rarely use it) otherwise it boots into Archlinux. startupmanager will let you configure the timeout, graphics, password, etc...
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