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[Windows] Help Please: GRUB2: Choose next OS to boot from Ubuntu or from WinXP

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http://ubuntuforums.org – These instructions explain how, with GRUB v1, to make it possible to choose which OS will boot next, either from Windows or Linux, by redirecting GRUB to look for a menu.lst file on a separate FAT32 partition. Either Ubuntu or Windows can then modify that menu.lst file to determine the next OS that will boot. Does anyone know how this could be done in GRUB2? I'm thinking something could be put in the 40_custom or 41_custom file in /etc/grub.d/, but I'm not sure what. (Hardware)