> If the system is configured in UEFI mode, it should prefer UEFI
consistently for all devices, not just for removable ones.

There is no such rule. Firmware makers can do what they want, including giving 
the possibility to boot the HDD in one mode, and boot the removable device in 
another mode.
See some examples here: 
https://help.ubuntu.com/community/UEFI#Set_up_the_BIOS_in_EFI_or_Legacy_mode


> The only reasonable way to address this problem would be to consistently 
> install both grub-pc and grub-efi on all amd64 systems, regardless of how 
> they're booted at install time.

I totally agree!  (and this would also solve Bug #1050940 )

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https://bugs.launchpad.net/bugs/1015211

Title:
  Ubiquity installed grub-efi when it should have installed grub-pc

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