Oh, this was very helpful! It looks like it was probably a BIOS issue, since immediately after updating the firmware the issue stopped happening. I've reset the PC about 4 times after that to make sure the correct boot wasn't part of the update process itself, and it boots correctly every time so far. Here's hoping it'll stay that way!
Edit:
I was wrong. I booted my PC the next day, and had the same issue again. I tried to run the commands, but the second command continued having an "access denied" issue even after disabling secure boot. How would I get around that?