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I have Ubuntu 15.10 installed on my laptop hard drive. I regularly have to boot from a live USB containing another Linux distro. It has to be done this way for security reasons, I cannot dual boot with the two distros. Each time I boot from the USB I have to reinstall GRUB in order to boot from the hard drive again. I have been running the Boot-Repair disk each time I have to change back to booting from my hard drive, but I would like to have it so that I could switch between the two more easily.

PC is a Toshiba Satellite L15W-B1208D, and the USB contains Arch Linux, but the issue happens even after booting from a live Ubuntu USB.

William
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Create a UEFI compatible Ubuntu LiveUSB install drive, and use recovery options from within Windows 10 to boot it. (start menu, type recovery opt and press enter, advanced start up, then use device. This will boot the Ubuntu installer in EFI mode, and thus install Ubuntu in full EFI mode... do not use the default partitioning.

You have to choose the windows boot manager partition to install the grub bootloader. Then you can boot into your Ubuntu install using the recovery options program describe above, and you will see "Ubuntu" in the list as well as your UEFI usb drive as an option... You must change GRUB to be loaded before the Windows Boot Manager to avoid having to load windows 10 before booting into Ubuntu.

This software should be able to change that order for you. http://www.easyuefi.com/index-us.html