As mentioned in #5862, the footer descriptions are unreadable when ansi_colors=True in the app. Unfortunately it looks like the footer colors were broken in Textual v3.1.0.
Here's a comparison showing the footer example from the docs but ran with app = FooterApp(ansi_color=True):
v3.0.0

v3.1.0

Setting the theme to textual-ansi doesn't help:
