As early as the mid-70s, minicomputers started including microcontrollers to manage the boot environment. I had a Sun machine once that included what they called Lights Out Management. A little microcontroller that had control over the system power and etc. Always available via its dedicated serial port, even when the machine was shut off. Everything is like that now. A smartphone will have multiple processors. Some doing IO interfacing. One to manage the battery. The radio hardware will have a general-purpose processor.
Most of these processors are fixed-in-ROM sort of machines, so the story for booting them individually is pretty simple. Much like a late 20th century PC, when switched on (either by the power supply or by another processor), start running BIOS code from the hardwired start address. Some need to have more software transferred to them after that.
Modern machines are really networks of computers in themselves. Networking and bringing all these parts together to support the main processors, at the low level, is not only poorly or completely undocumented, but it's probably impossible for one person to fit it all in their head these days.