Atari 2600, NES, SNES, and Genesis. Just put in the cartridge and start playing. The best startup sequence is not to have one at all.
The whole startup sequence thing started when disks came around. They have slower load times, so they needed to give us an entertaining startup sequence, so that we didn't realize that we were actually waiting through boring load times.
While not part of the system BIOS almost every officially licensed megadrive game starts off with a license screen from Sega, it was my first system which effectively had a boot screen.
As for the "CDs invented boot screens" no, game boy most certainly didn't run on CDs
Fancy hearing me on an amateur podcast with friends gushing over one of my favourite games? https://youtu.be/1I7JfMMxhf8