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The Netgate Firmware Upgrade package can on 4100/6100/8200 if the EFI partition is already mounted.
The webgui output shows:

dmistore : Creating DMI files...
dmistore : DMI files created
mount_msdosfs: /dev/mmcsd0p1: Operation not permitted
Error mounting EFI partition

Running the command directly shows:

[23.01-RELEASE][root@6100.stevew.lan]/usr/local/etc: sh -x /usr/local/sbin/blinkboot-upgrade.sh /usr/local/share/pfSense-pkg-Netgate_Firmware_Upgrade/roms/CORDOBA-03.00.00.01t-uc-15.fd 
+ [ -z /usr/local/share/pfSense-pkg-Netgate_Firmware_Upgrade/roms/CORDOBA-03.00.00.01t-uc-15.fd ]
+ rom_path=/usr/local/share/pfSense-pkg-Netgate_Firmware_Upgrade/roms/CORDOBA-03.00.00.01t-uc-15.fd
+ [ ! -f /usr/local/share/pfSense-pkg-Netgate_Firmware_Upgrade/roms/CORDOBA-03.00.00.01t-uc-15.fd ]
+ basename /usr/local/share/pfSense-pkg-Netgate_Firmware_Upgrade/roms/CORDOBA-03.00.00.01t-uc-15.fd
+ image=CORDOBA-03.00.00.01t-uc-15.fd
+ echo CORDOBA-03.00.00.01t-uc-15.fd
+ cut -d- -f2-
+ sed s/-2Ct-uc/t-uc/
+ tr -d '[.|\-|a-z|A-Z]'
+ version=0300000115
+ kenv -q smbios.bios.version
+ cut -d- -f2-
+ sed s/-2Ct/t/
+ tr -d '[.|a-z|A-Z]'
+ cur_version=03000000
+ sysctl -n dev.cordbuc.0.version
+ uc_cur_ver=15
+ cur_version=0300000015
+ kenv -q smbios.system.product
+ product=6100
+ realpath /usr/local/sbin/blinkboot-upgrade.sh
+ dirname /usr/local/sbin/blinkboot-upgrade.sh
+ base_dir=/usr/local/sbin
+ [ 6100 '!=' 4100 -a 6100 '!=' 6100 -a 6100 '!=' 6200 -a 6100 '!=' 8200 ]
+ [ 0300000015 -ge 0300000115 ]
+ mktemp -d
+ tmp_dir=/tmp/tmp.sHloEMSM1m
+ [ -z /tmp/tmp.sHloEMSM1m ]
+ [ ! -d /tmp/tmp.sHloEMSM1m ]
+ cd /tmp/tmp.sHloEMSM1m
+ /usr/local/sbin/dmistore
dmistore : Creating DMI files...
dmistore : DMI files created
+ find_root_device
+ mount -p
+ awk '{ if ( $2 == "/") { print $3 }}'
+ FSTYPE=zfs
+ mount -p
+ awk '{ if ( $2 == "/") { print $1 }}'
+ FSDEV=pfSense/ROOT/auto-auto-default-20230201234638-20230208124950
+ pool=pfSense
+ zpool list -v pfSense
+ awk 'END { print $1 }'
+ rootdev=mmcsd0p4
+ [ xmmcsd0p4 '=' xmmcsd0p4 ]
+ rawdev=mmcsd0p4
+ [ xdiskid '=' xmmcsd0p4 ]
+ search=mmcsd0p4
+ get_diskdevice mmcsd0p4
+ sysctl -b kern.geom.conftxt
+ read line
+ echo 0 DISK mmcsd0boot1 4194304 512 hd 0 sc 0
+ awk '{printf $2}'
+ local '_type=DISK'
+ echo 0 DISK mmcsd0boot1 4194304 512 hd 0 sc 0
+ awk '{printf $3}'
+ local '_dev=mmcsd0boot1'
+ echo mmcsd0p4
+ grep mmcsd0boot1
+ [ DISK '=' DISK -a -n '' ]
+ read line
+ echo 0 DISK mmcsd0boot0 4194304 512 hd 0 sc 0
+ awk '{printf $2}'
+ local '_type=DISK'
+ echo 0 DISK mmcsd0boot0 4194304 512 hd 0 sc 0
+ awk '{printf $3}'
+ local '_dev=mmcsd0boot0'
+ echo mmcsd0p4
+ grep mmcsd0boot0
+ [ DISK '=' DISK -a -n '' ]
+ read line
+ echo 0 DISK mmcsd0 15678308352 512 hd 0 sc 0
+ awk '{printf $2}'
+ local '_type=DISK'
+ echo 0 DISK mmcsd0 15678308352 512 hd 0 sc 0
+ awk '{printf $3}'
+ local '_dev=mmcsd0'
+ echo mmcsd0p4
+ grep mmcsd0
+ [ DISK '=' DISK -a -n mmcsd0p4 ]
+ echo -n mmcsd0
+ return
+ diskdev=mmcsd0
+ [ -z mmcsd0 ]
+ echo -n mmcsd0
+ DISK=mmcsd0
+ check_efi_partition mmcsd0 1
+ local '_disk=mmcsd0'
+ local '_part=1'
+ sysctl kern.geom.conftxt
+ grep mmcsd0p1
+ awk '{ if ($11 == "efi" && $13 == "GPT") { print "ok" }}'
+ EFIPART=ok
+ [ ok '==' ok ]
+ mount -t msdosfs /dev/mmcsd0p1 /mnt
mount_msdosfs: /dev/mmcsd0p1: Operation not permitted
+ echo 'Error mounting EFI partition'
Error mounting EFI partition
+ rm -rf /tmp/tmp.sHloEMSM1m
+ exit 1

Unmounting the partition before running the update allows it to complete:

umount /boot/efi

Tested:
pfSense-pkg-Netgate_Firmware_Upgrade-0.54
23.01-REL ZFS install on a 6100