In Pro, you should be able to Add Data From Path, add the ImageServer url. Then in ToC right-click layer, Properties, Display, Display Footprints. Similarly in ArcMap, r-click Properties, Display, 'Display footprints with this symbol'. I cannot see a way to get footprints to display by default though. And in ArcGIS Online or the Portal website... I cannot figure out how to view footprints except by clicking on a single one at a time in the attribute table.