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I want it to ALWAYS boot directly in the Live Zorin OS on the USB drive. As I mentioned I am a newbie and the "Install Zorin OS" is an option that I would rather not have
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If you let it time out and boot, it will boot to the Live Zorin.
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Is it possible to boot DIRECTLY to the Live OS on the stick with no boot option menu at all?
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Wait for the timeout and it will boot to that. No boot options, no. You would have to completely modify and re-create the system which I doubt you know how to do.
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And if the Option menu cannot be bpassed entirely can the "Install Zorin OS" be removed?
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No, not unless you loop mount, copy it to a specific partition, re-create the entire iso which I doubt you know how to do.
The iso you are booting from is a read-only filesystem and cannot be modified and saved on reboot.