Recommend turning off the legacy option and downgrading to 9.3.2 until a fix is released for 9.4.0.
I worked around this by downgrading to 9.3.2.
You need to include the new php tag for the footer (it changed in recent understrap release). You can compare your custom footer.php to the parent theme’s footer.php and see the difference.
<?php get_template_part( ‘sidebar-templates/sidebar’, ‘footerfull’ ); ?>