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>boot directly to seL4 from ROM as their firmware.

That's not a bad idea, but it just means you'd need to exploit dom0 or equivalent.

That's not necessarily true. There are VMM or hypervisor projects that utilize seL4 for x86 and ARM [1][2][3]. In this situation there isn't really one that is in "control". You could also have other threads or components that have higher privileges that can maybe do other monitoring or control activities.

1: https://github.com/seL4/camkes-vm 2: https://github.com/seL4/camkes-vm-examples 3: https://github.com/SEL4PROJ/camkes-arm-vm-manifest

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