One option for Footwork would be for it to give you an increased rate of kick attacks (average of 1.5 per attack round?), but also let you use Hand-to-Hand attacks as usual. Obviously this would be a big boost to Monk, so the trade off would be that you couldn't use Counterstance at the same time.

So it becomes like Samurai and Ninja stances, you have to choose which is most beneficial to the situation.

As the extra kick attacks would give TP, that gives it an advantage over counters, so in situations where taking damage isn't an issue, or for some reason the monk doesn't have hate, people would likely use Footwork. But when taking damage is an issue Counterstance would be preferred.

If necessary you could add the defense down of counterstance to footwork to stop it being too overpowered.