Taken with thanks from this StackOverflow post: http://apple.stackexchange.com/a/241819/132943
Open Terminal.app and enter:
sudo nvram boot-args="-s"
In the future your Mac will always boot to single user mode until you remove (sudo nvram -d boot-args or sudo nvram boot-args=""
) or replace the boot-args.
Other boot-args directly modifying the boot mode:
sudo nvram boot-args="-v": verbose
sudo nvram boot-args="-x": safe mode
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