How to Boot Seamlessly using the OpenCore Bootloader
Many thanks to Nick(D)VB for bringing my iMac back to life!
After spending many hours on a bazillion forums, here are the steps on how to get your iMac to boot using the OpenCore Bootloader with no keyboard manipulations. This works for Catalina 10.15.3 on a 2011 iMac.  I can't say for other versions or other iMacs.
1. Read the post from Nick 
here and download the 
OpenCore Bootloader.
2. Download 
BalenaEtcher https://www.balena.io/etcher/.  Alternatively, you can use 
Disk Utility.
3. Using 
BalenaEtcher copy the Opencore Bootloader.dmg to your USB or SD card. With 
Disk Utility, you can restore the file to your USB or SD Card.
4. Eject and reinsert your USB or SD card. You should see in 
Finder "Catalina Loader".
5. Go to 
Finder, click on 
Go from the top menu and choose 
Go to Folder. Put without quotation marks "/Volumes/Catalina Loader/EFI/OC".  Hit enter.
6. In this folder, locate config.plist and rename it.  For example, configbak.plist.
7. Unzip the appropriate archive: nvidia.zip for Nvidia cards and amd.zip for AMD cards.
8. Double-click the new config.plist that was just extracted.  
OpenCore Configurator should open.  If not,  you will have to go to the root of your USB and SD card and open 
OpenCore Configurator and find your config.plist file.
9. On the left, click on 
Kernel.  Make sure the first 6 kexts are checked.  UNLESS, you have a Nvidia card and you installed kexts when setting up your card (namely Sandybridge and Sleep).  In this case, uncheck the first two (Lilu.kext and WhateverGreen.kext). If your computer hangs after the OpenCore Bootloader, this is why.
10. Click on 
Misc on the left. Change 
External to 
Builtin.  Make sure 
Show Picker and 
PollAppleHotKeys are checked.
11. At the top right, click on 
Security.  Make sure 
AllowSetDefault is checked.
12. Click on 
File and then 
Save.
13. Normally, you would go into 
System Preferences and in the 
StartUp Manager choose Catalina Loader.  This did NOT work for me and caused me a lot of grief trying.
14. Reboot your computer
15. Be ready to hit your Option key, as your iMac reboots.
16. When you are presented with your boot options, use the error to select Catalina Loader.  Here this is important to hit 
CTRL + Enter at the same time,  You will see an arrow under Catalina Loader indicating that it is the default boot item.
17. You should now see the OpenCore Boot Picker.  Use the arrow to select your iMac boot drive. Again, very important to use 
CTRL + Enter.  It will now boot into your Apple partition.
18.  Do a test. Reboot your computer and should boot directly to your Apple partition through the OpenCore Bootloader.   Be patient it does sit on the OpenCore Boot Picker for about 10-15 seconds. You can check if you are able to change your brightness settings.
19.  If it works correctly, go to 
Finder.  Click on 
Go from the top menu and choose 
Go to Folder. Put without quotation marks "/Volumes/Catalina Loader/EFI/OC".  Hit enter.
20. Open the config.plist with the 
OpenCore Configurator again.
21. Click on 
Misc on the left.  Uncheck 
Show Picker.
22. Click on 
File and 
Save again.
23. Reboot again and you should have a slight delay. You will not see the OpenCore Boot Picker then it will go directly to the Apple boot screen.
It should work beautifully now!