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You can contact the iPXE developers by sending e-mail to ipxe-devel@lists.ipxe.org. You can also subscribe to the mailing list, or view the archive of past messages.
To talk to iPXE developers in real time, you can join the #ipxe
channel on the Freenode IRC network. If you are unable to use a standard IRC client due to firewall restrictions, then you can try using Freenode's web chat interface.
You can discuss general iPXE issues in the iPXE discussion forum. For detailed technical questions, you may also want to try contacting the iPXE developers via e-mail or IRC.
For commercial enquiries, such as custom development or business-critical support issues, please contact vendor-support@ipxe.org.