I've seen some that show a graph of ESR vs. C. TL431 usually does this, but I forget which LDOs I've seen it on.
You don't need to use an explicit resistor, but it is a good idea. The alternative is to find an electrolytic in the right range (good luck with that, and woe be unto you if the temperature should ever drop), or use a tantalum (which has other problems: conflict minerals (if you mind that sort of thing) and sensitivity to excess voltage and current).
You don't have to tolerate a high supply impedance, just a modest peak impedance in a frequency range where it's not usually a problem (namely, at the LDO's crossover frequency). You can use smaller bypass caps, without ESR, just fine, up to a total value maybe 1/5th of the bulk cap's value. (Also consider a lossy bulk cap on the other end of the supply, if it is routed point-to-point like a filter or transmission line, to terminate it. Very good results that way, without needing a 4 layer board!)
Tim