Not sure, there might have been a fast path if you were booting to another Windows 10 install. The old legacy Windows Boot Manager also doesn't have the issue since it's much simpler and it executes in faux text mode before the OS boots.
If you Bcdedit, that is known as "Standard" bootmenupolicy, which is touch-screen compatible and it has to reboot in order to reach an alternative OS selection other than the current bootmgr default.
If you bcdedit to be "Legacy" bootmenupolicy, you can select any OS from its simple non-touch text-based NT6 multiboot menu and it will boot right away without need for repost.