How to force wordpress to load block scripts in footer instead of head?

Question

I'm currently using @wordpress/scripts to compile and load blocks script. Take a barebones block.json file like this:

{
  "name": "myproject/counters",
  "title": "Counters",
  "description": "Blocco counters",
  "keywords": ["counters", "counter"],
  "style": [ "file:./counters.css", "counters-style" ],
  "script": "file:./counters.js",
  "align": "full"
}

@wordpress/scripts will compile the block and auto-register the script. But it will register it so that it will be printed into the HEAD section instead of page footer. So in this case, how can I control the $in_footer param of wp_register/enqueue_script?