wp_enqueue_script dependencies decide the load order for you

Printing a <script> tag straight into a template puts it wherever the template happens to run, which is why so many themes have jQuery loaded twice and a plugin that breaks when another one is deactivated. The dependency array is the whole point of the enqueue API.

wp_enqueue_script(
    'catalogue-filters',
    get_template_directory_uri() . '/js/filters.js',
    array( 'jquery', 'underscore' ),   // load after these
    '1.4.0',
    true                                // in the footer
);

WordPress resolves the graph and emits the handles in a valid order, so nothing needs to know what anything else requires. The version argument is the cache-buster and should change with the file, not be left at the theme version. The final true puts the tag before </body>, which is right for anything that does not need to run before first paint.