For that, wait until the VirtualBox logo flashes on the screen, then immediately tap Esc. Note: Intercepting the Mint boot menu is a different issue. There’s also an option to modify for the current boot only (Boot Manager), but don’t see any advantage. This is where can set the virtual optical drive to higher priority than the OS, then F10 to save. Once in settings, go to Boot Maintenance Manager > Boot Options > Change Boot Order. Second, with the system running, open Terminal and run systemctl reboot -firmware-setup. First is the usual tap-on-the-Esc-key at just the right moment during boot method. Turns out that, although not mentioned in the Manual, there are user-accessible settings for some EFI functions, including boot order. Then, today, I tripped over the answer by accident. This annoyed me somewhat, but I reminded myself (i) it's free software and (ii) it's an experimental feature. So, for example, you can't run GParted to modify the virtual hard drive. The one odd thing I found about EFI mode is that, unlike regular mode (which emulates BIOS), after installation, an EFI system will not by default boot to a live ISO inserted to the virtual optical drive.
Encouragingly, they say, “EFI support … will be enhanced as EFI matures and becomes more widespread.” Any year now, no doubt. The manual says very little about this mode, see § 3.14, mainly that it’s experimental but works with Mac, Linux and Windows (though not Win7). It's an option in Settings > System > Motherboard. One of the lesser known features in VirtualBox is an EFI mode.
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