The electromagnetic coupling between the Galilean satellites at Jupiter and the planetary ionosphere generates an auroral footprint, which is detected with high spatial resolution in the infrared L band by the Jovian InfraRed Auroral Mapper (JIRAM) onboard the Juno spacecraft. We report the JIRAM data acquired since 27 August 2016 until 23 May 2022, which are used to compute the average position of the footprint tracks of Io, Europa and Ganymede. The result of the present analysis help to test the reliability of magnetic field models, to calibrate ground‐based observations and to highlight the variability in the footprint positions, which can be used to probe the plasma environment at the orbit of the satellites. The determination of the plasma properties around the moons is particularly relevant to complement the Juno flybys of the moons during its extended mission, and to support the future Juice and Europa Clipper missions. Lastly, we report no clear evidence of the auroral footprint of Callisto, which is likely due to a combination of its low expected brightness and its position very close to the main Jovian aurora. Plain Language Summary The Jovian InfraRed Auroral Mapper onboard the Juno spacecraft around Jupiter has now been gathering 6 years of observations. Here, we report the position of the auroral infrared emission associated with the orbital motion of Io, Europa and Ganymede. The position of this emission ‐ called footprint ‐ carries information on the magnetic field geometry and the distribution of charged particles along the magnetic field. Therefore, the footprint tracks provided here can be used to test and constrain magnetic field models, and to improve the calibration of ground based observations of Jupiter: this can help better understand the source region of the main Jovian aurora and its variations. Lastly, by surveying the data acquired over 40 Juno orbits, we point out variations in the footprint position, which reflect the variability in the plasma conditions near the moons: this monitoring may help determine the mass loading of the magnetosphere, which affects the intensity of the main aurora. The possibility of investigating the plasma environment at the orbit of the satellites is important to complement the satellite flybys performed during the extended mission of Juno and to support the future Juice and Europa Clipper missions, which are dedicated to the Galilean moons. Key Points The position of the Io, Europa and Ganymede footprints based on Juno‐JIRAM observations are reported with unprecedented spatial resolution The positions of the footprints support the Juno‐based magnetic field models and the calibration of ground‐based observation The transversal shift of the Ganymede footprint suggests variations of the plasmadisk; the shift appears to be correlated with local time