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Is it possible to have Windows 10 boot menu when using BitLocker (without TPM)?

I have 2 hard drives, each with a Windows 10 installation that is BitLocker encrypted but the computer has no TPM (it uses password). I tried many different ways of enabling the Windows 10 boot menu, but nothing worked. Is it possible? How?

I can choose which Windows 10 installation to start by selecting from the BIOS and both seem to be working fine.