Host cannot see Discovery menu when doing legacy booting

Host is not able to see the Discovery menu when it is doing Legacy booting.
The /tftpboot/pxelinux.cfg/default file is present and has the correct content. The discovery image is also correct. When booting using UEFI, I was able to see the Discovery menu, but when booting using Legacy, I am not able to see the Discovery menu.
Delving deeper, looking at the DHCP logs, there will be a series of DHCPDiscover message from the host and DHCPOffer message from the DHCP server. However, the host will signal that it failed to receive any DHCP offer.
The host is pingable from the DHCP server.
Expected outcome:
The host will be able to see the Discovery menu
Foreman and Proxy versions:
Foreman and Proxy plugin versions:
Distribution and version:

Other relevant data:

In other words, DHCP does not work for you.

Check firewall, remember that DHCP uses UDP for communication.

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