Does a up to date boilerplate for Bootstrap 4 with live reload, sass and js build exist?
Craft doesn't use themes, in the way WordPress does, so you won't find a direct equivalent to Roots / Sage.

That said, none of what you listed is CMS-specific, so there's nothing stopping you setting up a generic development / build workflow which matches your stated requirements.

Stack Overflow is a better place to ask about general tooling, though.