You can use json.JSONDecoder.raw_decode to walk through the string.  Its documentation indeed says:
This can be used to decode a JSON document from a string that may have extraneous data at the end.
The following code sample assumes all the JSON values are in one big string:
def json_elements(string):
    while True:
        try:
            (element, position) = json.JSONDecoder.raw_decode(string)
            yield element
            string = string[position:]
        except ValueError:
            break
To avoid dealing with raw_decode yourself and to be able to parse a stream chunk by chunk, I would recommend a library I made for this exact purpose: streamcat.
def json_elements(stream)
    decoder = json.JSONDecoder()
    yield from streamcat.stream_to_iterator(stream, decoder)
This works for any concatenation of JSON values regardless of how many white-space characters are used within them or between them.
If you have control over how your input stream is encoded, you may want to consider using line-delimited JSON, which makes parsing easier.