In case of iPXE boot script failure / ending before doing proper configuration, your PC is supposed to boot using next boot option in order configured in BIOS. So, first of all - make sure that your boot order in BIOS is correct.
According to list of available iPXE commands (listed here - commands), exit
command should do the job.
BUT: from my experience it doesn't work for some BIOS. Not sure if it is bug on BIOS provider part or not. Out of two machines tested only one used next boot option after exit
command. Second machine just opened boot settings and waited for user input.
Workaround that solved question for both my machines was the following:
exit 1
Specifying error level 1 prevented system from opening boot menu and booted into the next option instead.
Another possible workaround that also worked:
sanboot --no-describe --drive 0x80
The idea here is to specify non-existing SAN device (0x80), so iPXE boot fails and boots into next boot option.
Recommended approach is to update your BIOS and use exit
command. Only use workarounds like the ones above if proper way is not an option.