It took a while to figure this out for Spring Boot 2 as none of the answers fully worked for me. I finally came up with this (fyi I have SSL turned on): WarRun.java with Gradle dependencies below to make it work.
What it gives: 
embedded tomcat with context path / at https://localhost:8070
sample.war at https://localhost:8070/sample
SampleWebApp.war at https://localhost:8070/yo
import java.io.File;
import java.io.IOException;
import java.io.PrintStream;
import java.util.Properties;
import org.apache.catalina.Context;
import org.apache.catalina.startup.Tomcat;
import org.springframework.boot.SpringApplication;
import org.springframework.boot.WebApplicationType;
import org.springframework.boot.autoconfigure.SpringBootApplication;
import org.springframework.boot.builder.SpringApplicationBuilder;
import org.springframework.boot.web.embedded.tomcat.TomcatServletWebServerFactory;
import org.springframework.boot.web.embedded.tomcat.TomcatWebServer;
import org.springframework.boot.web.servlet.server.ServletWebServerFactory;
import org.springframework.boot.web.servlet.support.SpringBootServletInitializer;
import org.springframework.context.annotation.Bean;
import org.springframework.context.annotation.ComponentScan;
import org.springframework.context.annotation.Profile;
import org.springframework.core.io.ClassPathResource;
@ComponentScan({ "com.towianski.controllers" })
@SpringBootApplication
@Profile("server")
public class WarRun extends SpringBootServletInitializer {
    @Override
    protected SpringApplicationBuilder configure(SpringApplicationBuilder application) {
        return application.sources(WarRun.class).web(  WebApplicationType.SERVLET );
    }
    public static void main(String[] args) {
        SpringApplication app = new SpringApplication(WarRun.class);
        System.out.println( "Entered WarRun.main");
        String loggingFile = "";
        String dir = "";
        for ( int i = 0; i < args.length; i++ )
            {
//            logger.info( "** args [" + i + "] =" + args[i] + "=" );
            System.out.println( "** args [" + i + "] =" + args[i] + "=" );
            if ( args[i].toLowerCase().startsWith( "-dir" ) )
                {
                dir = args[i].substring( "-dir=".length() );
                }
            else if ( args[i].toLowerCase().startsWith( "--logging.file" ) )
                {
                loggingFile = args[i].substring( "--logging.file=".length() );
                stdOutFilePropertyChange( loggingFile );
                stdErrFilePropertyChange( loggingFile );
                }
            }
        Properties properties = new Properties();
//        properties.setProperty( "spring.resources.static-locations",
//                               "classpath:/home/stan/Downloads" );
        properties.setProperty( "server.port", "8070" );
//        System.setProperty("server.servlet.context-path", "/prop");     <--- Will set embedded Spring Boot Tomcat context path
        properties.setProperty( "spring.security.user.name", "stan" );
        properties.setProperty( "spring.security.user.password", "stan" );
        System.out.println( "Entered WarRun.main after set properties");
        app.setDefaultProperties(properties);
        System.out.println( "Entered WarRun.main after call set props. before app.run");
        app.run(args);
        System.out.println( "Entered WarRun.main after app.run()");
    }
    @Bean
    public ServletWebServerFactory servletContainer() {
        return new TomcatServletWebServerFactory() {
            protected TomcatWebServer getTomcatWebServer(Tomcat tomcat) {
                System.out.println( "tomcat.getServer().getCatalinaBase() =" + tomcat.getServer().getCatalinaBase() + "=" );
                new File(tomcat.getServer().getCatalinaBase(), "/webapps").mkdirs();
    //            try {
    //                Files.copy( (new File( "/home/stan/Downloads/sample.war" ) ).toPath(), (new File( tomcat.getServer().getCatalinaBase() +"/webapp/sample.war") ).toPath());
    //            } catch (IOException ex) {
    //                Logger.getLogger(WarRun.class.getName()).log(Level.SEVERE, null, ex);
    //            }
                try {
                    System.out.println( "Entered ServletWebServerFactory servletContainer()");
                    Context context2 = tomcat.addWebapp("/sample", new ClassPathResource("file:/home/stan/Downloads/sample.war").getFile().toString());
                    Context context3 = tomcat.addWebapp("/yo", new ClassPathResource("file:/home/stan/Downloads/SampleWebApp.war").getFile().toString());
    //                Context context = tomcat.addWebapp("/what", new ClassPathResource( "file:" + tomcat.getServer().getCatalinaBase() +"/webapps/sample.war" ).getFile().toString() );
                    context2.setParentClassLoader(getClass().getClassLoader());
                    context3.setParentClassLoader(getClass().getClassLoader());
    //  also works but above seems better
    //                WebappLoader loader2 = new WebappLoader(Thread.currentThread().getContextClassLoader());
    //                WebappLoader loader3 = new WebappLoader(Thread.currentThread().getContextClassLoader());
    //                context2.setLoader(loader2);
    //                context3.setLoader(loader3);
                } catch (IOException ex) {
                    ex.printStackTrace();
                }
                return super.getTomcatWebServer(tomcat);
            }
        };
    }
}
Gradle:
apply plugin: 'war'
war {
    enabled = true
}
. . . .
dependencies {
    compile("org.springframework.boot:spring-boot-starter:2.1.6.RELEASE")
    compile("org.springframework.boot:spring-boot-starter-web:2.1.6.RELEASE") 
    compile group: 'org.apache.tomcat.embed', name: 'tomcat-embed-jasper', version: '9.0.21'
    compile("org.springframework.boot:spring-boot-starter-security:2.1.6.RELEASE")
    compile 'org.apache.httpcomponents:httpclient:4.5.7'
    compile group: 'org.codehaus.groovy', name: 'groovy-all', version: '2.5.6'
    compile fileTree(dir: 'libs', include: ['*.jar'])
    compile 'com.jcraft:jsch:0.1.55'
    testCompile group: 'junit', name: 'junit', version: '4.12'
}