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The entry for <footer> in the HTML5.1 spec [3] makes <footer> valid in <aside> and <nav> sectioning elements, as well sectioning roots, i.e. <blockquote>, <body>, <details>, <dialog>, <fieldset>, <figure>, and <td>. Surely this is the same scenario as <footer> in <article> or <section>, namely it does not represent an ARIA "contentinfo" landmark. If this is right, then the a11y mapping needs to make this clear, and not restrict the condition to ancestor <article> and <section> elements. It needs to distinguish between "footer (nearest sectioning element ancestor is body)", in which case it has a "contentinfo" role, and "footer (nearest sectioning element ancestor is not body)" where it has no default ARIA role. The same situation would apply to <header> and the "banner" role.
See https://www.w3.org/Bugs/Public/show_bug.cgi?id=27961#c3