You can change footer from both Customizer and page level. If you want same footer on all pages, then choose any footer as per your choice from ‘Customizer > Footer >Default Footer Template’ (Figure-1) and choose ‘Theme Default Footer’ from page level (Figure-2) and this is not applicable Shop related pages.
Figure-1
Figure-2
If you want different footer on any page, then go to that page and choose any footer except ‘Theme Default Footer’ from ‘Select Custom Footer’ section.
Figure-3