A cheapo I.R. thermometer can be had for obviously hot, there is no point in measuring that exactly. The
I hit something in the 95% efficiency ballpark some years ago in a buck-boost switcher. Discrete switches, integrated controller. It was mostly a matter of parts-selection and trading off parameters (*), e.g., too big a FET wastes drive, too small wastes Rds(on) dissipation.
(*) AND, I should add, some sleuthing with the I.R. thermometer, which uncovered some unexpectedly warm components.
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