The Kobo firmware has two reader applications. For epubs, it uses an RMSDK based reader. This does the page numbers for the full book and only displays the page numbers in the footer. The other reader is for kepubs. This can do either per-chapter or full book page numbers. When the per-chapter option is selected, the chapter name is also displayed in the footer. This reader is based on the ACCESS engine, which I assume is also used for the Android and iOS app.
You can sideload your books as kepubs to get what you want. The simplest way to do this is to use calibre and the KoboTouchExtended driver.
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