I replied to a similar topic a couple of years ago:
That post includes a reference to irrometers, which are devices for measuring soil moisture. They come in various depths and porosity for various soil types, and they’re calibrated in kilo Pascals (kPa) of vacuum. Of course, this isn’t directly useful as an indicator of plant stress, but, after irrigating, you can note whether the plants respond and begin to correlate in your mind how much difference a watering session makes in the vacuum. Thus, you learn how often to turn on the water, guided by the irrometer reading. The trick is to stay out in front of stress.