* Select and click Boot Maintenance Manager You will be introduced to an EFI graphical interface We managed to solve these UEFI problems with the following commands and follow the screenshots which are very detailed. In our case, after installing macOS Catalina in a virtual machine I manually directed EFI to boot into macOS for the first time, and then macOS automatically repaired the boot partition, and subsequent boots worked correctly.
UEFI requires intervention, and you need to help it locate and run the operating system-specific boot firmware that contains macOS boot.efi. To resolve this issue, download the APFS boot and follow the instructions in the images below. After downloading, you can run the macOS Catalina virtual machine again. When you face such issues, you need to download an ISO boot from the APFS boot image and upload a driver from it. APFS does not work perfectly with a VirtualBox especially with macOS Catalina. APFS is Apple's new file system for Apple products, such as MacOS, iPads, watchOS, TVOS, and other Apple products. The most common problem is due to Apple's file system (APFS). Fix EFI Internal Shell on macOS CatalinaWhen you encounter an internal EFI shell, you may see an error or notification.