I'm not really sure why nobody else finds this to be an issue, but I've been doing a bit of Open Firmware research tonight & it's extremely easy to implement, even though there doesn't seem to be a single document online showing how to do it this simply. It's also great that it works very well!
For each of the following steps, prompt Open Firmware at boot by holding Option+Command+O+F (for PC Keyboards, Windows+Alt+O+F).
Step 1:
Type "reset-nvram" & enter,
Type "set-defaults" & enter,
Type "reset-all" & enter (after this point the Mac should re-boot).
Step 2:
Type "setenv boot-command multi-boot" & enter,
Type "setenv skip-netboot? true" & enter (this command speeds up the boot select screen...obviously),
Type "shut-down" & enter
Step 3: Power on your Mac Mini & enjoy!
PZ.
