Possibly. The first thing that would need to be added is registering the Footer Navigation location in the theme, with the appropriate CSS, etc. Then adding an additional section in Customizer for Footer Navigation, with controls.
That was what I was thinking. That way, you could still have a Secondary Navigation for separate use on the site (under header, above header, etc), and also have footer navigation. The advantage doing it that way would be the ability to use a totally different menu in the footer.
Hope that makes sense…