To add to what others suggested:
I have seen this before in gas motors!
Problem was the antifreeze; something in it had either broke down chemically speaking or it had a foreign substance induced into it, or both. I never had the old antifreeze analyzed, just replaced it.
Cure, we drained and flushed the cooling system and refilled with new antifreeze and foaming was gone!
Two questions come to mind?
Do you have the correct antifreeze (HOAT)?
Have you or someone else ever put some other chemical additive into the antifreeze? i.e. stop leak, water wetter, purple ice, radiator cleaner, etc...
In your case it may be worth a try to drain, flush and install new antifreeze and see if the foaming goes away?
FYI: Most water pumps only pump in the neighborhood of 5-7 psig; they are a very low pressure systems designed mostly to flow the liquid through the system, not pressurize it. Due to low speed and low pressure, cavitation would be almost impossible within a full system unless something else is going on?

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