iPXE itself is pretty powerful when it comes to menus and booting options, obviously your results may vary from distro to distro or application to application etc. etc.

This example is using the Advanced menu, with subcategories etc.
I haven’t had much need for this in a while due to my work changing the way the boot system here works breaking things out of my control, but this is a post from a few years back that should still work but you would need you to look up specific settings per distro based on what you are trying to do.

https://forums.fogproject.org/topic/7329/sub-menu-within-fog-advanced-menu

This guy has some impressive examples: https://gist.github.com/robinsmidsrod/2234639

Additional information DHCP Options:
https://gist.github.com/robinsmidsrod/4008017

Example for Sysrescue:
https://gist.github.com/robinsmidsrod/1c7bbd4a058f0e6892df

Results may vary. ¯\_(ツ)_/¯