Essentially: keep some minimum values for time. Then do a single HTTPS request, ignore the validation of the certificate's date to start with, but use the Date header to later validate it against minimum / maximum. This has the advantage it's still a HTTPS request, so can't be MiTM'd and depending on implementation it can validate the time quite well (even if the device has run out of power it can have saved a recent timestamp on disk, so with regular use of the device an old certificate won't be valid, keeping the main useful property of certificates having validity periods).
I don't believe it does this, but you could do this without DNS as 8.8.8.8, etc already have IP address certificates:
It would need a custom tool though, as curl only has --insecure, not a way to avoid just the notBefore / notAfter validation of the cert.
(This is not the only thing to use this technique, OpenBSD's ntpd has a way to contrain time based on HTTP headers: https://man.openbsd.org/ntpd.conf#CONSTRAINTS -- the default ntpd.conf ships with Quad9 configured via IP address.)
Oh this is a good point! Looking at my DNSSEC domain (hosted by CloudFlare) on https://dnssec-debugger.verisignlabs.com - the Inception Time and Expiration Time seems to be valid for... 3.5 days? This isn't something I look at much, but I assume that is up to the implementation. The new shortlived cert is valid for 6 days. So, from a very rough look, I expect X.509 certificate is going to be less time sensitive then DNSSEC - but only by a few days. Also, very likely to depend on implementation details. This is a great point.