Willie Pep and Walcott had great footwork but they were also kinda unorthodox not saying that they aren't good to study but that had to be said.
Hopkins, Mayweather, maybe Vitali (also a bit unorthodox and awkward), Whitaker and Rigondaux for defensive footwork. And (young) Tyson, Joe Louis, Julio Cesar Chavez Sr, Golovkin and Foreman for offensive footwork.
I subscribe Isaac ho on youtube and i improve my footwork a lot.. So i suggest you to check issac befit for better footwork.. Despite from it there are lot of video for setting your footwork in right way.