Last time I checked you could still buy “Tire Thumpers” at some truck stops.
A two foot piece of 3/4 inch ID pipe also works well.
I purchased three of them from Amazon, one for our car and one for each of my kids.
Big Rig Defense: Hickory Stick Tire Thumper - Made in USA - Fish Bat Tire Knocker - Truckers Tool for Checking Tire Pressure - Weighted Wood Stick with Extra Grip