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I have installed an RHEL6.0 guest with EFI Support. The VM had a vdi on SATA for the boot disk. The installation went fine, but the machine was unable to boot on the SATA disk. Once I've changed the boot disk from SATA to IDE, the VM was able to boot, and all worked fine. The guest had no problem to see SATA disks once the system was up.

I verified on the EFI shell, and no SATA disk can be seen. But no problems with IDE disks. Is there a limitation with SATA disk for boot on guest with EFI enabled?

Yes, I believe this was added/fixed in VBox 4.

Yes! I saw this issue was solved in VBox 4 Beta. I didn't tried it yet...