In this video, I go over the procedure to boot a Raspberry Pi 4 from a USB flash drive. This technique still requires the bootloader on a microSD card. You can use a small, slow microSD card for this as it is only used for bootloading. I also do a benchmark comparison between the microSD card and the USB flash drive. You will still need a microSD card with the boot loader on it as the Raspberry Pi 4 doesn’t currently support booting from USB without it. This technique also works on previous versions of the Pi.
In this video, I go over the procedure to boot a Raspberry Pi 3 from a USB flash drive. You do need a microSD card for the initial setup but after configuration, it is no longer needed.