We propose a method to extend submanifolds, singular Riemannian foliations and isometric actions from a boundary component of a noncompact symmetric space to the whole space. This extension method preserves minimal submanifolds, isoparametric foliations and polar actions, among other properties. One of the several applications yields the first examples of inhomogeneous isoparametric hypersurfaces in noncompact symmetric spaces of rank at least two.2010 Mathematics Subject Classification. Primary 53C42; Secondary 57S20, 53C35, 53C12. Key words and phrases. Polar action, minimal submanifold, noncompact symmetric space, isoparametric hypersurface, isoparametric foliation.The author has been supported by a fellowship at IMPA (Brazil), and projects EM2014/009, GRC2013-045 and MTM2013-41335-P with FEDER funds (Spain).