Understanding the dynamics of rocket plume impingement on flat surfaces is critical for designing effective and sustainable landing pads. The current near vacuum study measures the surface pressures and temperature profiles arising on a flat surface due to highly underexpanded, axisymmetric plume impingement. The experiments were conducted in a dedicated, large-volume plume-regolith facility situated at the University of Glasgow. A total of eight tests were conducted, comprising of both constant and pulsed firing modes. The impingement plate is located at stand-off distances equal to 4 and 16 times the nozzle exit diameters and plate inclinations of 0° and 30°. Reduced stand-off distance increases impingement pressure, with a transient peak in the early stages of impingement indicating the presence of a primary shock wave. Higher stand-off distance resulted in decreased impingement pressure without an initial peak, but with a spike at the end of impingement once the nozzle had stopped firing. For inclined plates, the centerline impingement pressure magnitude decreased by around 40% compared with the 0° inclination. The measured pressures at lower stand-off height are then compared with the results of both a two-way coupled direct simulation Monte Carlo/Navier–Stokes–Fourier solver and an analytical theory. The results from all methods are in good agreement with each other, with the simulation and experimental centerline pressures being within 1% of each other. As the optical thickness of the gas is very low in the experimental case, the numerical method is used to generate a Schlieren image to analyze the shock structure.