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I'm sure there are many many things with code to handle both init systems, but my mind is blank right now, the only thing that comes to mind is MRPI itself, although that's not exactly an "at boot" situation.
So, better question: What are you even trying to do in the first place?
(On the upside, screwing up with sysvinit on a K4 won't be as bad as screwing up with upstart on FW 5.x, as that can soft-brick a device veeeery easily).
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