These are called contact shadows, they’re quite complicated to set up but there is an example on threes website in the examples section.
React users can take out the ContactShadows component from drei, in that case it’s just one line floating shoe - CodeSandbox Otherwise you’ll have to untangle the official example and adapt it to your needs.
There’s also percentage closer soft shadows, looks like this: r3f soft shadows - CodeSandbox but they’re too slow for the kind of models you’re dealing with most likely.