I have been experimenting with this for some time and would like to offer some input and request anything that anyone else finds out.
For myself, I am looking to be able to restore or image HS as it is no longer supported with APFS unless a device is already on HS. I have repacked the firmware updater .pkg from the official HS installer, ran it on a SUPPORTED machine and noticed that it only in my case changed the boot ROM.
I was able to use AutoDMG to create a HS asr image, restore it using the HS installer from terminal, mount the Macintosh HD partition and target it with the installer function to install firmware. The next reboot will be long as firmware goes from EFI partition to Boot ROM, but the device boots and otherwise functions normally. I couldn't see that the installer changed anything else.
I would assume that for what this thread is trying to accomplish, using the appropriate firmware you could flash it while running regular Sierra, reboot, the asr restore HS to the machine in question.
If anyone attempts this and finds that after officially running the install that more firmware is updated elsewhere please post here.