One of my company's development system has 8 different operating systems on it. Needless to say it uses a big fat hard drive and not an SSD (could you imagine the price!) All booting is done via System Preferences. On Windows there are tools available (the name eludes me now) that allow the system to come up and display which OS to use prior to booting. Too bad the Mac doesn't have something like that. Holding the option key down at boot doesn't count, but it is in some ways similar.
Selecting Startup Drive through System Prefs does just that...