My mother has a rather ancient gas boiler in her kitchen. I've suggested that if/when she replaces it, she gets the new one installed in the garage. The gas meter is in there, the garage is connected to the house and H&C water pipes link through to the house, so heating pipes could also link through, and I see no obvious problems.
But something is lurking in the back of my mind about building or fire regs not allowing flame devices in garages where cars are kept because of the potential fire hazard. Is this the case? Are gas boilers prohibited in garages? It would be a condensing boiler, so both air intake and combustion exhaust would be vented outside.