A few days ago, KiCad 8 was released ... live previews when tweaking schematic symbols or footprints in text editor, improved 3D viewer UI, ARM64 support on Windows, and even on-hover preview ...

Click this button to run CvPCB To associate symbols with footprints ... To make a footprint, KiCad offers a Footprint Editor. This can be accessed from either PCBnew or the launcher.