decent rolling boil... you don't want full blast because you'll run the very likely risk of caramelizing a fair amount of sugars on the bottom of the pot.
Rolling boil for me. I keep the lid off (for DMS reasons). Once it has reached boiling temps, you will not get any hotter by applying more heat. But you do want a good hot break, so the entire vessel should be at boiling temp.
The more vigorous the boil, the better, but you don't want boilovers, so I always use enough heat to get right to the point of boilover, then back off just slightly for the most vigorous possible controlled boil!!
As a purely technical point, sugars caramelize in a low moisture, medium heat situation. In high moisture environments, you get a different set of browning reactions that don't come with the corresponding sweetness.
The most important part is following and figuring out which settings work for you. I rock a full blast until I get to a full boil then dial it down 10%. No matter what the weather, I am very consistent on my boil off and have no scorching
I had my first ever boil over last week end, I was doing a late DME addition, and didn't remove from the heat. Lost maybe a couple cups, it was outdoors, no biggy. My beer will be fine