Try something like this: 

const htmlField = LFForm.findFieldsByFieldId(ID)[0];

const makeHtml = async function () {    
    try {
        // Get the field values. Either change these to the correct field ID
        // or use the variableName selector
        let test1 = LFForm.getFieldValues({fieldId: ID});
        let test2 = LFForm.getFieldValues({fieldId: ID});


        // Create the updated HTML content
        const html = `<p><strong>This is a sample footer for ${test1} and ${test2} </strong></p>`;

        // Update the Custom HTML fields with the new content
        await LFForm.changeFieldSettings(htmlField, { content: html });
    } catch (error) {
        console.error('Error updating HTML fields:', error);
    }
};

// When SQL lookup is complete, update the Custom HTML
LFForm.onLookupDone(function () {
    makeHtml();
}, {lookupRuleId: ID}); // Adjust the lookupRuleId accordingly

// Run on page load (needed for the Save to Repository task)
makeHtml();

I use something similar for embedding test scores in tables or dynamic dates for form windows and it prints on the generated PDF.