DC resistance, especially for such a non-ideal battery as lead-acid, is not a constant, it's a function of (too) many parameters.
The best you can get is to measure the DC resistance near the operating condition that is of interest to you. I.e., what are you going to do with the result?
Usually, step test with two test currents, neither of which is zero, is used. For example, 10A and 50A. R = (U2-U1)/(I2-I1)
Give it a few seconds to be meaningful for real-life seconds-long peaks.
Temperature, state-of-charge and condition of the battery affect the resistance a lot. If you are just testing to analyze the condition, then keep state-of-charge and temperature constant.