1. Devices should be allowed to display a different logo at boot time depending on whether the software is manufacturer-approved or not. That way, if somebody sells you an used device with a flashed firmware that steals all your financial data, you have a way to know.
2. Going from approved to unapproved firmware should result in a full device wipe, Chromebook style. Possibly with a three-day cooldown. Those aren't too much of an obstacle for a true tinkerer who knows what they're doing, but they make it harder to social engineer people into installing a firmware of the attackers' choosing.
3. Users should have the ability to opt themselves into cryptographic protection, either on the original or modified firmware, for anti-theft reasons. Otherwise, devices become extremely attractive to steal.