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GRUB can load the kernel directly, either in ELF or a.out format. But this is not recommended, since FreeBSD's bootstrap interface sometimes changes heavily, so GRUB can't guarantee to pass kernel parameters correctly.
Thus, we'd recommend loading the very flexible loader `/boot/loader' instead. See this example:
grub> root (hd0,a) grub> kernel /boot/loader grub> boot
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