Is there any program that is free to download/use that can have my GPU temps displayed say in the top right hand corner at all times (while gaming and just idle) and it will always be visible to me?

Do you have a NVIDIA gfx card? If so you can use the NVIDIA GeForce Experience to display all kinds of metrics,

You can then adjust the kind of metrics you want so that it shows on the top right of your screen in game, to activate it press alt+r

MSI afterburner is what I (and a lot of others) generally use,

you can monitor GPU temp, control fans, clock speed as well as voltage all in one program.

you could use a desktop widget program like rainmeter.

Msi afterburn is top

task manager can see GPU temp.