Yeah, here's what I do.
My main drive is APFS, I have a bootable backup (CCC clone) formatted to HFS+. If I'm going to be using windows, for any reason, I'm booted into the HFS+ drive. There, bootcamp options are all functional for me. I can boot back to the HFS+ drive without a PRAM. If I'm done with Win10 for the day, then I boot to the main drive (APFS) from the HFS+ drive and leave it there. It's convoluted but it's workable and easy. I'll always have a CCC clone so, no harm in formatting it to HFS+. It works well that way.
I also use BootRunner3 which works well, but any reboot (in my configuration) takes me back to the APFS drive. There is no BootRunner3 controls for Windows. It's the only shortcoming I can find with that app.
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It doesn't work. I'm running it now.