There is at least 3 ways to do it.
let targetNode = document.querySelector('#wrapper'),
placeNode = document.querySelector('#footer');
targetNode.after(placeNode);
targetNode.insertAdjacentElement('afterend', placeNode);
targetNode.parentNode.insertBefore(placeNode, targetNode.nextSibling);
The first of these 3, is the newest and simplest. Has been supported since Chrome 54+, Firefox 49+, Edge 17+. No IE support...
Last one is best support, oldest and most complicated one...
Middle one is somewhere in the middle... Is still too hard... Not intuitive enough...