I don't think you have to prepare the USB flash to be able to boot from it - well, apart from getting the file system right: you need to be able to read the files - you just need to point the system to use efilinux-eng.efi bootloader and load the droidboot.img image file. This should be done naturally by startup.nsh, but it doesn't seem to work in your case I guess. Other software that could possibly help you in editing the boot entries is EasyUEFI, I haven't used it myself but according to its webpage it has a similar functionality to efibootmgr.
This might be also an interesting read.
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