Ok, I tried this image: https://keybase.pub/kallisti5/haiku-nightly-anyboot-efi.iso
I tried booting it from the BIOS. Same result. I also tried to add it to GRUB. I tried adding the efi partition and then I tried adding the BFS partition. Still same result.
One thing I noticed was that when the BIOS was set to UEFI only, I wasn’t even able to select the USB device from the BIOS menu even though it’s supposed to be a UEFI image. I also looked at the USB drive’s partition information and it says Master Boot Record instead of GUID. Maybe this helps.