As noted in the comments f=geojson +(1=1)
https://services.arcgis.com/V6ZHFr6zdgNZuVG0/ArcGIS/rest/services/NYC_Footprints_fgdb/FeatureServer/0/query?where=1%3D1&objectIds=&time=&geometry=&geometryType=esriGeometryEnvelope&inSR=&spatialRel=esriSpatialRelIntersects&resultType=none&distance=0.0&units=esriSRUnit_Meter&returnGeodetic=false&outFields=&returnGeometry=true&returnCentroid=false&featureEncoding=esriDefault&multipatchOption=xyFootprint&maxAllowableOffset=&geometryPrecision=&outSR=&datumTransformation=&applyVCSProjection=false&returnIdsOnly=false&returnUniqueIdsOnly=false&returnCountOnly=false&returnExtentOnly=false&returnQueryGeometry=false&returnDistinctValues=false&cacheHint=false&orderByFields=&groupByFieldsForStatistics=&outStatistics=&having=&resultOffset=&resultRecordCount=&returnZ=false&returnM=false&returnExceededLimitFeatures=true&quantizationParameters=&sqlFormat=none&f=pgeojson&token=
returns
{
"type" : "FeatureCollection",
"properties" : {
"exceededTransferLimit" : true
},
"features" : [
{
"type" : "Feature",
"geometry" :
{
"type" : "Polygon",
"coordinates" :
[
[
[-73.7425151210838, 40.599094240213],
[-73.7425911041967, 40.5990861769151],
[-73.7425917093092, 40.5990894913071],
[-73.7426532694704, 40.5990829589762],
[-73.7426757075901, 40.5992058022994],
[-73.7425381640606, 40.5992203988559],
[-73.7425151210838, 40.599094240213]
]
]
},
"properties" : null
},
{
"type" : "Feature",
"geometry" :
{
"type" : "Polygon",
"coordinates" :
[
[
[-73.9209083358819, 40.5583775802595],
[-73.9209259088365, 40.5583233221446],
[-73.9210125653364, 40.5583396497789],
[-73.9210200191982, 40.5583166365532],
[-73.92109231559, 40.5583302571756],
[-73.9210672877374, 40.5584075285442],
[-73.9209083358819, 40.5583775802595]
]
]
},
"properties" : null
},
{
"type" : "Feature",
"geometry" :
{
"type" : "Polygon",
"coordinates" :
[
[
[-73.7982895588688, 40.5981746348479],
[-73.7983689818667, 40.5981711261968],
[-73.7983727816124, 40.5982211011943],
[-73.798293358555, 40.598224609848],
[-73.7982895588688, 40.5981746348479]
]
]
} ]
You can use the wizard here to build the query.
https://services.arcgis.com/V6ZHFr6zdgNZuVG0/ArcGIS/rest/services/NYC_Footprints_fgdb/FeatureServer/0/query
f=pbf
withf=geojson
, orf=json