It will be Auckland City’s 12th appearance at the Club World Cup, with their best finish being a third placing in 2014, the last time they won a game at the tournament.
Bayern won the Club World Cup title in both 2013 and 2020 as defending Champions League winners.
Bayern sit atop the Bundesliga table, Boca Juniors sixth in their domestic league, while Benfica are currently third in Liga Portugal.
In other groups, Manchester City and Juventus are in Group G while Paris Saint-Germain and Atlético Madrid will square off in Group B.
Fifa Club World Cup groups
Group A
Palmeiras (Brazil)
Porto (Portugal)
Al Ahly (Egypt)
Inter Miami (US)
Group B
Paris Saint-Germain (France)
Atletico Madrid (Spain)
Botafogo (Brazil)
Seattle Sounders (US)
Group C
Bayern Munich (Germany)
Auckland City (New Zealand)
Boca Juniors (Argentina)
Benfica (Portugal)
Group D
Flamengo (Brazil)
Esperance de Tunis (Tunisia)
Chelsea (England)
Leon (Mexico)
Group E
River Plate (Argentina)
Urawa Red Diamonds (Japan)
Monterrey (Mexico)
Inter Milan (Italy)
Group F
Fluminense (Brazil)
Borussia Dortmund (Germany)
Ulsan HD (South Korea)
Mamelodi Sundowns (South Africa)
Group G
Manchester City (England)
Wydad AC (Morocco)
Al Ain (UAE)
Juventus (Italy)
Group H
Real Madrid (Spain)
Al-Hilal (Saudi Arabia)
Pachuca (Mexico)
Red Bull Salzburg (Austria)