We've got ground similar to that right now (can't remember the last time it rained and it was a very rainy spring). I am setting up sprinklers tonight and giving it about a half an hour, and will probably do another round or two next week as well. I have done this in the past, and as long as I water a few times in the days leading up to setup, I can get the stakes to go in without too much trouble. As long as there is grass there, the ground will eventually soften up and adsorb the water.
Now if you have nothing but dirt/sand/clay... I have no idea.
Now if you have nothing but dirt/sand/clay... I have no idea.