If one doesn’t dual boot, this is likely not an issue. I was booting Windows 7 Ultimate/8.1 Pro and now I’m booting Windows 8.1 Pro/10 Pro. I’ll be doing a lot of back and forth until I get 10 Pro setup the way I want it.
I first noticed the two-step with Windows 8. When booting, Windows 8 would partially load before presenting the Boot Menu. If I chose Windows 8, it continued to boot, rather quickly. But if I chose Windows 7, it would go all the way back to the UEFI screen to start booting Windows 7.
The Windows 7 bootmgr doesn’t work that way; it presents the Boot Menu soon after the UEFI gets the hardware up to speed. Make a selection, and it just continues to boot into the OS of choice. So to get rid of the Windows 8 two-step, I replaced the bootmgr in the EFI partition with the Windows 7 bootmgr.
When I recognized that the Windows 10 bootmgr had a very similar two-step, I replaced it with the Windows 7 bootmgr, too. Now I’m booting much more crisply when I want to boot into Windows 8.1.