It’s not your permalink settings, it’s the fact that foo.jpg was uploaded first and “stole” the slug foo – you need to change it to something else, then set your page slug.
Go to Media > foo.jpg > Edit (if you are in grid view, you need to go to “Edit more details”)
From this page you can edit the permalink/slug (just like pages/posts, right beneath the title field) and set it something that isn’t foo.
Now go re-save your page with slug foo.
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