AbstractOne of the auroral features of Jupiter is the emission associated with the orbital motion of its moon Io. The relative velocity between Io and the surrounding plasma trigger perturbations that travels as Alfvén waves along the magnetic field lines toward the Jovian ionosphere. These waves can accelerate electrons into the atmosphere and ultimately produce an auroral emission, called the Io footprint. The speed of the Alfvén waves—and hence the position of the footprint—depends on the magnetic field and on the plasma distribution along the field line passing through Io, whose SO₂‐rich atmosphere is the source of a dense plasma torus around Jupiter. Since 2016, the Jovian InfraRed Auroral Mapper (JIRAM) onboard Juno has been observing the Io footprint with a spatial resolution of ∼few tens of km/pixel. JIRAM detected evidences of variability in the Io footprint position that are not dependent on the System III longitude of Io. The position of the Io footprint in the JIRAM images is compared with the position predicted by a model of the Io Plasma Torus and of the magnetic field. This is the first attempt to retrieve quantitative information on the variability of the torus by looking at the Io footprint. The results are consistent with previous observations of the density and temperature of the Io Plasma Torus. However, we found that the plasma density and temperature exhibit considerable non‐System III variability that can be due either to local time asymmetry of the torus or to its temporal variability.