I think the footer is the best way to interlink the websites in a non-obtrusive way for users. This should make your main corporate site your top linking site to each subdomain - and this is something you should be able to verify in a tool like Google Webmaster Tools. I do not have any specific examples to support this, but this is a common web practice.
This is not 100% related, but Google recently suggested using Footer links as one way to associate your web content with your Google profile account:
http://www.google.com/support/webmasters/bin/answer.py?hl=en&answer=1408986
So you can figure if Google looks to footer links to associate authorship - they would likely do the same to relate sites together.