I studied Chun Kuk Do (formerly Chuck Norris Tang Soo Do) in the 1990s in Kentucky. One of the forms that we were required to learn (I think for my green or brown belt) was a staff form. I don't know if it was actually part of the normal Chun Kuk Do or Tang Soo Do curriculum because my teacher liked to add forms and techniques from other styles. I remember the name being something like "Muhammed Basto Ana Isa". The form was at least largely done with a mixed grip (right hand underhand, left hand overhand). We would start out in Jun Bi, the ready stance with legs shoulder-width part, and the staff held about waist level with the arms straight. We would then twirl the staff with the right hand to being tucked under the right armpit vertically, and bow before returning to the ready stance. I don't remember exactly how it starts, but there's an early sequence (referred to as Sequence A in the written instructions. I think there was a Sequence B as well although I don't remember the details) involving a horizontal strike with the right side at shoulder-height followed by a strike with the other side, also horizontal at shoulder-height, then a downward strike and a reversed upward strike with the other side, followed by that first horizontal strike. That sequence was repeated several times in the form. The only other bits I remember is that at one point, we did a two-handed upward block followed by a two-handed low block, at one point we did a figure-8 spin for two rotations (of course, sliding the hands together in the center), and I think there was a part where we slid the left hand closer to the end of the staff and did a low movement as if to hook a leg, followed by a thrust.
Oof... this looks ugly watching myself, but I quickly filmed the beginning twirl and bow, and an example of Sequence A
I've looked at Bong Hyung Cho Dan, but it doesn't match my memories. The UFAF Bo Form looks more complicated than what we learned (which would make sense for it being required for a third degree black belt) although I can see the "Sequence A" I mentioned above in it.