This made me think of some reference material I read on Oracle.
Your default BIOS file name shows gpxelinux.0 . According to the following link gpxelinux.0 can be used with BIOS based PXE clients and UEFI clients in Legacy Mode. Not in UEFI mode. Read the top part of the page from the link.
https://docs.oracle.com/cd/E92593_01/E71078/html/swk24-rml_psn_3s.html
A quick look on Google I found this for someone setting up a FOG server on pfsense. It appears to be supporting UEFI. There are two articles here: https://vworld.nl/?s=pfsense+pxe
I have never tried doing this via pfsense myself. I am using Windows Server WDS. I have successfully been able to PXE boot all four conditions (Legacy BIOS, UEFI w/Legacy, UEFI wo/Legacy and UEFI Secure Boot). There was a hiccup/bug with WDS I had to address first but the fix was simple.
I'd love to know how this worked for you. I may try this in the future.