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We present three Lagrangian algebras in the modular 2-category associated to the 3+1D $\mathbb{Z}_2$ topological order and discuss their physical interpretations, connecting algebras with gapped boundary conditions, and interestingly, maps (braided autoequivalences) exchanging algebras with bulk domain walls. A Lagrangian algebra, together with its modules and local modules, encapsulates detailed physical data of strings condensing at a gapped boundary. In particular, the condensed strings can terminate at boundaries in non-trivial ways. This phenomenon has no lower dimensional analogue and corresponds to novel mathematical structures associated to higher algebras. We provide a layered construction and also explicit lattice realizations of these boundaries and illustrate the correspondence between physics and mathematics of these boundary conditions. This is a first detailed study of the mathematics of Lagrangian algebras in modular 2-categories and their corresponding physics, that brings together rich phenomena of string condensations, gapped boundaries and domain walls in 3+1D topological orders.