nested exception is org.springframework.beans.factory.UnsatisfiedDependencyException: 
Error creating bean with name 'xxxMapper' defined in file [D:\codes\xxx\xxx\target\classes\com\xxx\xxx\mapper\xxxMapper.class]: 
Unsatisfied dependency expressed through bean property 'sqlSessionFactory'; 
nested exception is org.springframework.beans.factory.BeanCreationException: 
Error creating bean with name 'sqlSessionFactory' defined in class path resource [org/mybatis/spring/boot/autoconfigure/MybatisAutoConfiguration.class]: 
Bean instantiation via factory method failed; nested exception is org.springframework.beans.BeanInstantiationException: 
Failed to instantiate [org.apache.ibatis.session.SqlSessionFactory]: 
Factory method 'sqlSessionFactory' threw exception; 
nested exception is org.springframework.core.NestedIOException: 
Failed to parse mapping resource: 'file [D:\codes\xxx\xxx\target\classes\mybatis\xxxMapper.xml]'; 
nested exception is org.apache.ibatis.builder.BuilderException: 
Error creating document instance.  
Cause: org.xml.sax.SAXParseException; lineNumber: 134; columnNumber: 59; 元素内容必须由格式正确的字符数据或标记组成。

出现此错误的原因：Mybatis xml文件中sql语句有误，一般是特殊字符没有做处理。

Mybatis-Mapper特殊字符转换表格如下，仅供参考

或者采用 <![CDATA[]]> 装饰
例如：

id <![CDATA[>=]]> #{id}     // id>=#{id}