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You have to blacklist the kernel module of one of your video devices, that is the only way it will run with no issue on boot. But not sure if it will allow you to switch video cards at will after the kernel module is blacklisted. To blacklisted add a file on /etc/modprobe.d a file like blacklist.conf the content of the file will be something like

blacklist i915

assuming you the kernel module to blacklist is i915.

Hope it helps or give you some ideas.