How can I modify footer when footer.php calls to another file?

You can remove_action and add_action with your own action. (https://codex.wordpress.org/Function_Reference/remove_action) In your child theme functions.php you can add this code for example :

add_action('init', 'remove_talon_footer'); // Remove your parent theme actions
function remove_talon_footer() {
    remove_action('talon_footer', 'talon_footer_sidebar', 7); // Use same priority
    remove_action('talon_footer', 'talon_footer_credits', 8);
    remove_action('talon_footer', 'talon_footer_menu', 9);
}

/**
 * Footer sidebar
 */
function my_talon_footer_menu() {
    // What you want
}
add_action('talon_footer', 'my_talon_footer_sidebar', 7);

/**
 * Footer credits
 */
function my_talon_footer_menu() {
    // What you want
}
add_action('talon_footer', 'my_talon_footer_credits', 8);

/**
 * Footer menu
 */
function my_talon_footer_menu() {
    // What you want
}
add_action('talon_footer', 'my_talon_footer_menu', 9);

The first function is here to tell WP to remove the action in your parent theme, the others can be placed in a footer functions file.