Dual boot with other OSes

If you’re using UEFI then during OS installation it should automatically create a separate boot menu entry and you can use UEFI boot menu at boot time to select which menu entry to boot from e.g. something like this:

There is a guide about encrypted /boot:

And you can also check archlinux wiki for a reference:
dm-crypt/Encrypting an entire system - ArchWiki
FYI with encrypted /boot there will be unencrypted boot data anyway:

Less data is left unencrypted, i.e. the boot loader and the EFI system partition, if present

Yes, your firmware or Qubes OS boot files could be compromised from Linux as well.
You can consider using Heads:

Also relevant info on multibooting: