Tested on Orange Pi PC Plus originally with FreeBSD-13.0-CURRENT-arm-armv7-GENERICSD-20200709-r363032.img.xz.
The default loader could not display its menu properly after I commented out beastie_disable in loader.conf. The menu was garbled and I could see elements of what was supposed to be escape sequences, like "[2;19H".
I built a customer loader with TERM_EMU enabled and replaced EFI/BOOT/bootarm.efi in the EFI partition. After that I could see the menu.
Just in case, additional menu customizations that I had turned on in both cases: