I wouldn't require the second rod unless it has been engineered or written up that why on the submitted plans.
If this is not specified on the plans and the contractor has only driven one rod, I will assume he is in compliance with Section 250.56 since the second rod is not present. It is the contractors responsibility to ensure the section has been met based on the performance of the first ground rod, not mine as the inspector.
What's most important is that you consult with the local AHJ to learn their specific requirements on this matter. Most are simply looking for two rods, and I think that is fair. If you only drive one and they request a second or verified test of the first, I also feel they are justified to do so.
I personally think it is a waste of time and of such litte importance, other more pressing issues should be getting all the attention this one section seems to get.