RPI 3B - boot from USB SSD?

Can somebody point me to a guide or explain how to get a RPI 3B to boot from a USB HD?

Ideally, everything on HD. If impossible, boot fs on SD but everything else (including roo fs) on hd.

With an intel system, I would know how to do it, but on a Pi I am not so sure.
 
I thought I saw trev making a comment about interrupting uboot and pick the device to boot from.
Maybe this is only valid on arm7.
Worth a try.
 
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