@michaeloberg Interesting workaround you cam up with! Using dnsmasq for legacy BIOS machines (undionly.kpxe) and Windows DHCP for UEFI ones (ipxe.efi). While it seems to work properly I am fairly sure this will be failing one or the other time because both send out PXE boot information and this is known to cause trouble.
As George said, would be good to get the packet dump (pcap) to understand what’s going on. For that you’d disable option 66 & 67 on your Windows DHCP, install tcpdump on your FOG server and capture the packets while PXE booting the legacy BIOS host first and when it waits at the iPXE menu try booting the UEFI machine too and stop the packet dump just after that ran into the error.