[…]To prevent attackers from replacing our firmware with a malicious version, we apply digital signatures. There are two ways for an attacker to defeat the signature checks and install a malicious replacement for firmware: find and exploit vulnerabilities in the signature-checking process or gain access to the signing key and get their malicious version signed so the device will accept it as a legitimate update. The signature-checking software is tiny, isolated, and vetted with extreme thoroughness. Defeating it is hard. The signing keys, however, must exist somewhere, and there must be people who have access to them.[…]
https://security.googleblog.com/2018/06/insider-attack-resistance.html
Firmware Security 