There are two main ways to switch from RCM to boot. The first is by using a software tool, and the second is by manually editing the system files.
The easiest way to switch from RCM to boot is by using a software tool like Hekate or ReiNX. These tools will automatically patch your system files and enable you to boot normally.
If you want to switch from RCM to boot without using a software tool, you can do so by manually editing your system files. First, you'll need to backup your important data as this process will delete all of your existing save data. Next, you'll need to delete the following files from your Nintendo Switch: nx-ovlloader, nx-hbloader, and nx-os. Finally, you'll need to copy over the boot folder from the ReiNX zip file onto your SD card. After doing all of this, your Nintendo Switch should now be able to boot normally without going into RCM mode.