I've recently authored a PR in Spring Boot to add support for auto-configuration of CXFServlet and default CXF's configuration:
The PR was closed with "won't fix" resolution since Boot team are unwilling to add CXF as a dependency to the project. Instead a 3rd party starter was suggested.
The concept of a 3rd party starter is generally encouraged for technologies that don't have first-class support in projects from Spring portfolio. Such 3rd party starters are listed here:
If CXF team is interested, I'm willing to port my PR to CXF.
Note that the original PR was focused around JAX-WS support, but can be easily expanded to include JAX-RS support as well.