First question - what is on drives c-f? My understanding, but this is based on 98SE experience working with Partition Magic, is that any primary partition can be the boot partition, so all primary partitions are made bootable when an operating system is installed on them - that's the way to work with multiple OS's. So far as I'm aware, because all the primary partitions come before all the extended partitions, if G is bootable, then, by installing an OS on C,D,E or F, they would also become bootable and is then a matter of setting the active partition. It may well be that XP works differently? If so, I would still have thought that a partition manager would have been your solution.
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