I have two yorkies. One is 6.5 lbs and he is a little dare devil and doesn't know his size. His name is Chip. Then there is Smokey who is 13 lbs and the most playful thing.
From what you've described, you sound like you'd be a good family for a yorkie, but the only thing I'd be concerned with is if you got a really tiny yorkie with a boxer. She (or he) may not mean to do any harm, but there have been cases where large dogs have actually accidentally hurt or killed a yorkie just from playing with them. I'd look for a bigger one, maybe one that is a bit "out of standard" size. Possibly look into rescue as there are plenty of bigger ones there that need loving homes and are just as beautiful. My Smokey was a rescue and I think he is beautiful