@Trev
Single ELF for all three, no. It'd need to be dynamic, containing the different binaries inside. The obvious solution would be to wrap it all inside an amiga 68k executable with a small 68k code stub that determines the actual runtime system and loads the appropriate ELF, except that AROS does not run 68k binaries at all.
Thus, while it would be easily possible to create a binary that runs on both OS4 and MOS (with native code), it is not possible to include AROS (the only exception would be AROS ported to 68k, but does such thing even exist?).