Pretty hard to do especially when a squirrel is searching for acorns or other foods. But normally if you hear 3,4, or 5 quick steps its likely a squirrel bounding across the forest floor.
Years ago I had a squirrel harassing me while bow hunting on the ground. He would come up close to me, get in a nearby tree and start chattering at me. It got to the point that I had to throw a stick at him to chase him away. About 20 mins later I heard steps behind me and thought that darn squirrel was back. I turned around and came face to face with a 6 point buck! I was fortunate enough to arrow that buck when he circled downwind to try and catch my scent.