If its earth resistance down long mains cable, then its often done by time domain reflectometry.
The chargepoint testers do it as a routine.
Otherwise...just get a current source and push current through your measurement points, and measure the voltage between your measurement points, then V/I
Earth resistance around a power station for example is done by injecting known currents into driven earth stakes and measuring the volt drop of these - with enough measurements one can plot a surface of earth resistance over the area of interest ...