I learned to do it manually and had a blast doing it. Sometimes would be at it til the wee hours of the morning trying ot get it just right.
Same here, using himem and I believe Loadhi (as the command in config.sys) sometime around, what, DOS 5 or so? It's been a decade or so
QEMM just made it easier.
[my first "menu" was menu.bat in autoexec with bat files for the programs (A.bat, B.bat)] That was with DOS 3.
I was/am anal to the point that I don't like things like boot disks. Though, I did use a boot manager (system commander) towards the end to boot into windows or various DOS setups.
Charon