Update USB Boot Firmware stable using Raspberry Pi OS
sudo apt update && sudo apt full-upgrade
sudo reboot
sudo nano /etc/default/rpi-eeprom-update
and replace critical or beta to "stable"
sudo rpi-eeprom-update -d -f /lib/firmware/raspberrypi/bootloader/stable/pieeprom-2020-06-15.bin
sudo reboot
Check bootloader version using vcgencmd bootloader_version
Boot existing OS from USB
Copy newest *.dat and *.elf files from https://github.com/raspberrypi/firmware/tree/master/boot to /boot partition