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More details on the exact behavior of the bootloop would help (i.e., what's on screen, how are the leds, does it react to hard-reboots, does it show up over USB, etc.).
That said, without RP+CRP, if you can't get at the USBMS storage, you're generally a tiny bit screwed in these sort of circumstances, which only leaves opening it up & serial access as a recovery method.
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