Another one in KiCad 7.0. I work on a project these days and I face all kind of weird stuff in KiCad 7.0. While running DRC in PCB editor, I ran into a „Footprint [whatever footprint] does not match copy in library [whatever library]” warning:

The warning is marked with a yellow marker and concerns two footprints, one switch and an SMA connector. Updating both as described in text will remove the warning.
This seems to be related whenever the 3D file is updated and is not according to the one specified in the library. Removing warning can be done via the Tools → Update footprints from Library:

Use Tools → Update footprints from Library menu entry to remove this warning message. YOU can apply this to multiple components at once.
DRC error was silenced. 🙂 Voila, clean and error-free design. Hope this will help someone else. Drop me a message if so.
Greetings & thx !