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Is there a difference between Boot Software and Boot Loader Software

That depends on as what you consider each.  I could argue that, for example, the configuration for grub is boot loader software but not boot software because it is software that belongs to the boot loader but isn´t software you boot --- but I won´t do that.

 

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Shot answer yes 

 

Firmware

     Messed up term, that these days mean anything from programmable logic configuration to any embedded SW.

     They even speak of an Android distribution in a smartphone as "the firmware".

Boot loader

     As the name says - loads a system to be booted. Usually at least part of the (lowest level) boot loader is PROMed into      the system, but sometimes (like in case of JTAG) could be external. Summa summarum: a piece of code that allows      loading of a bootable system into a device's core somehow, and booting it there.

Driver

     Usually OS-dependent piece of code that knows how to handle a device, like MMU, USB-chip, HDD, ... and that the OS      uses for operating that device. Sometimes even bare metal code module that offers a simple interface is called a driver.

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