Ok, let me try and run some numbers
Volumetric Heat Capacity for Dry Sandy Soil 0.80 x10^6 J/m3.K
Which means we can condense a liter of water by rising the temperature of a cubic meter of soil by 3 degrees K.
To obtain the target 40 liters we need thermal contact to about 40m3 of soil. I won't bother with thermal diffusivity but let's crudely assume that drilling to 10 meters deep would give us what we need.
Turns out the animation in the video wasn't to scale. No big deal. I mean that's just a factor of two, not even an order of magnitude...
Seriously though, a drilling auger on the back of a tractor could drill to that depth in an hour.
In the Kalahari Desert the soil temperature at that depth is 18 degrees year round. Also the moisture during the night time regularly reaches 70% and the temperatures drops considerably.
So, operate the rig during night time and shut it down at sunrise to allow the soil to equalize.
It might work. There are better approaches but this also might work.