How do I enqueue a JavaScript in my footer via the functions.php file?

First, create a static js file with those inline codes..

!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0];
    if(!d.getElementById(id)){js=d.createElement(s);js.id=id;
    js.src="https://platform.twitter.com/widgets.js";
    fjs.parentNode.insertBefore(js,fjs);}
}(document,"script","twitter-wjs");

 var options = {
    "url": "/my-styles.css"
 };
 CustomizeTwitterWidget(options);

Then enqueue it at footer as the dependent of twitter-customize script which you already enqueued.

function my_footer_enqueue() {

    wp_register_script( 'twitter-customize', get_template_directory_uri() . '/js/customize-twitter-1.1.min.js', array(), '1.0', true );
    wp_enqueue_script( 'twitter-customize' );
    wp_enqueue_script( 'twitter-customize-custom', get_template_directory_uri() . '/js/twitter-customize-custom.min.js', array('twitter-customize'), '1.0', true );
}
add_action( 'wp_enqueue_scripts', 'my_footer_enqueue' );

That’s all. Clean and easy way.