How to boot Raspberry Pi 4 from SSD connected by USB

The default storage for the Raspberry Pi is the Micro SD card with a max theoretical speed of 50 MB/s on the latest Raspberry model (Pi 4) and 25 Mb/s on earlier models (Pi3, Pi2, etc.). Unfortunately, from the tests we have conducted on different Raspberry Pi boards, we saw that most of the SD cards we use on the Pi never reach speeds greater than 38 MB/s.