If the XML is well formed and there are no issues with the repositories, try using the previous version of Spring boot starter. Example -
<parent>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-parent</artifactId>
<version>2.2.2.RELEASE</version>
<relativePath/> <!-- lookup parent from repository -->
</parent>
And do a maven update, it should work.
This may be because of spring initializer created project pom file like this
<parent>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-parent</artifactId>
<version>2.0.5.RELEASE</version>
<relativePath/> <!-- lookup parent from repository -->
</parent>
However, sts is compatible with version "2.0.4.RELEASE", just make this change
<parent>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-parent</artifactId>
<version>2.0.4.RELEASE</version>
<relativePath/> <!-- lookup parent from repository -->
</parent>
further Maven -> Update Project
