A method for steering a downhole tool includes receiving an electromagnetic (EM) signal from the downhole tool. The downhole tool is in a wellbore in a formation. The EM signal comprises a gap voltage and a gap current that are measured across a gap sub in the downhole tool. The method also includes determining a gap impedance based at least partially upon the gap voltage and the gap current. The method also includes determining a first formation resistivity at a first location in the wellbore based at least partially upon the gap impedance. The method also includes steering the downhole tool based at least partially upon the first formation resistivity.