How to restrict foot to sidewalks only?

I’m using default foot routing for florida osm. I’m finding routes where people walk on the road, even though there are sidewalks available. What’s the best way to restrict foot routing to sidewalks only?

I was looking at custom profile and plan to use Road classes to restrict.

I think FOOTWAY, PEDESTRIAN, LIVING STREE, STEPS, SERVICE, PLATFORM
makes the most sense to allow?

There might be an easier way, but setup a custom profile where only sidewalks are used?

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