What does it show in the odo screen? What light comes on in the selector? If those are normal then it's probably not the switch. But the XYZ doesn't actually select the gear, the cable does that. The switch tells the computer what gear has been selected. I know that is an oversimplification, I'm only trying to show that there is a third place to check and that is the cable. Even the nut holding the selector arm on to the trans could have come loose. They seem pretty sensitive to adjustment.
As for the boot, do you mean the gaiter in the console or the rubber boot beneath it? Mine has done 350K and there is little wear to that gaiter, and I have certainly used the transfer lever a lot.
140K is just a baby, so unless there's been abuse or poor maintenance I'd expect the trans to do more than that.
EDIT: On the occasions my trans has failed reverse was the one gear that DID work. FWIW.


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