Hi ScubaSteve,

Are you allowed to use the ring besides sparring? If so, then why not take advantage of it. You can do 'ring jacks' (something like jumping jacks in which you move around in a circle) to loosen up and move around the ring, and then start shadowboxing while emphasizing your footwork. Work on moving forward and backward, changing directions, circling left and right, and then coordinating your hands and feet. Pick a spot where your opponent would be, and then practice pivoting on your front foot. You can also work on angles, turns, getting off the ropes, etc. You can practice your footwork throughout your training, when you're shadowboxing, hitting the bags/pads, and when you're sparring. That's where you really you really develop useful footwork that you can execute on the fly.

Anyway, try not to stay in one spot for too long when you're shadowboxing or hitting the bags. Shadowboxing in front of a mirror too much, can also reinforce the tendency of staying in one spot as well.

When hitting the bag, give it a little push to get in swinging and then circle it. Stay on brim of punching range, and step in to punch. While you're doing this you can also step in at an angle (diagonally), and out. You can work in close, giving the bag a hard push and then on the return-swing, pivot out of the way. In this case the bag represents an opponent rushing you in a straight line, giving you a safe and realistic way to practice your pivots.

Controlled sparring, say for instance when it's defense only, or jabs only, is also good for practicing your footwork. You don't have to worry as much about running into something, and you can fine-tune those moves that will save your butt.

Practice is the mother of all skills.