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It's not firmware. It's everything. The last time OS 9 was updated, the G5 processor didn't exist, PC3200 RAM didn't exist, SATA hard drives didn't exist...how would it be possible for an operating system to be able to run on hardware that never even existed when it was written? It'd be a bit like expecting the TRSDOS operating system that was written for ancient TRS-80 computers to boot a Mac.
I'm expecting you to be correct about this Tacit; but I do have a set of CD's or DVD's that came out of a cleaning of our software vault and must've come with a computer and they say on them that they're for an G5 iMAC and one has 10.3 installation and the other has OS 9 on the label. They won't work on the iMAC G5 with the iSight that I bought from the school district so I suspect that they're for the earlier G5 iMAC without the iSight although I'm not at all sure I ever saw one in the school district (maybe in our Title I reading program that supports the Catholic schools). I think I'll try setting up the G4 Powermac that I know will run the OS 9 disks with a new hard drive that never had OS 10 anything on it!