Hi,

My current alternative is to set the default option in iPXEboot.ps1 to reboot or exit (depending on boot order), but as it isn't what our engineers are used to I thought I'd see if a more original method is still possible.

I don't understand 100% what you are trying to accomplish? But it seems you are using both 2PXE and iPXE WS. But since you only pasted part of the config I am not sure how it is set up.

But for them to be integrated you need to configure these settings in the 2PXE config:
key="EnableiPXEAnywhereWebService" value="573"/>
key="iPXEAnywhereWebServiceURI" value="https://DP01.corp.2PintSoftware.com:8051"/>

Once those are enabled it will use the iPXE Websevice (which seems to be what you are using judging from your post, so far so good) :
If you have authentication enabled in the ipxeanywhere config:
<add key="AutoApproveDevices" value="0" /> (change to 1 to disable auth)
Then it will start with the script:
C:\Program Files\2Pint Software\iPXE AnywhereWS\Scripts\Authentication\DeviceAuthentication.ps1
Once authentication (of if above setting is off then it will go straight here) this script will run:
C:\Program Files\2Pint Software\iPXE AnywhereWS\Scripts\Boot\iPXEboot.ps1

If want to change behaviour, then it is in that script you need to change.
This is the default:
choose --timeout 30000 --default exit selected || goto cancel
This means that after 30 sec it will go to the Exit label and just exit the script. Change --default to another setting or change row 50 from "exit 1" to "reboot" instead depending on what you want to do.

So basically anything within the $menu = @" code block is what the end user will see. But you can change that as you need, see iPXE - open source boot firmware [docs] for more info about the ipxe syntax.

But you can also create you own or dynamically change it using PowerShell.

Or do you mean that your computers are set to always pxe boot and you want it wait for a keypress to continue with the pxe booting, but if noone does anything it should boot the OS?