With iOS 16.4 and iPadOS 16.4 or later, those who are joined in Apple's Developer Program or Apple Beta Software Program can activate the latest beta updates from the Software Update section in the Settings app, without needing to install beta profiles anymore.
Because there is no need to install beta profiles anymore, Apple has switched to using Apple IDs to manage devices using beta software (including both Developer Beta and Public Beta).
If you haven't joined the Apple Beta Software Program or Apple Developer Program, please join before following the steps below. Here's how to join.
If you have already joined in either of the above programs, follow the steps below to enable beta software updates in the Settings app.
Open Settings app
Launch the Settings app on your iPhone running iOS 16.4 or later. Then tap General > Software Update.

Configure beta updates on your device
Choose the new Beta Updates button (it may take a moment to appear) and then choose the Developer Beta or Public Beta.
Note: Your device must be signed in with the same Apple ID you used to enroll in the Apple Beta Software Program in order to access the beta software. If you need to change your Apple ID associated with the beta, you can tap that at the bottom.

You can always change this setting to "Off" at any time if you want to stop receiving beta updates.
However, if you want to roll back to the previous stable version, you'll need to do this through your PC or Mac. There's also a Restore guide if you're interested.
Provide Feedback
Once the beta is installed, it will come with a built-in Feedback Assistant app, which can be launched from the second page of your Home screen. When you come across an issue that needs addressing, send your feedback to Apple with Feedback Assistant.
Open Settings app
Launch the Settings app on your iPad running iPadOS 16.4 or later. Then tap General > Software Update.

Configure beta updates on your device
Choose the new Beta Updates button (it may take a moment to appear) and then choose the Developer Beta or Public Beta.
Note: Your device must be signed in with the same Apple ID you used to enroll in the Apple Beta Software Program in order to access the beta software. If you need to change your Apple ID associated with the beta, you can tap that at the bottom.

You can always change this setting to "Off" at any time if you want to stop receiving beta updates.
However, if you want to roll back to the previous stable version, you'll need to do this through your PC or Mac. There's also a Restore guide if you're interested.
Provide Feedback
Once the beta is installed, it will come with a built-in Feedback Assistant app, which can be launched from the second page of your Home screen. When you come across an issue that needs addressing, send your feedback to Apple with Feedback Assistant.
Open System Settings
Launch the System Settings app on your Mac running macOS 13.4 or later. Then click General > Software Update.
Click on the "i" icon next to the new Beta Updates option (it may take a moment to appear).

Configure beta updates on your device
Here, you can click on the "Off" option, a menu will appear, and then choose Developer Beta or Public Beta.
Note: Your device must be signed in with the same Apple ID you used to enroll in the Apple Beta Software Program in order to access the beta software. If you need to change your Apple ID associated with the beta, you can click that at the bottom.

You can always change this setting to "Off" at any time if you want to stop receiving beta updates.
Provide Feedback
Once the beta is installed, it will come with a built-in Feedback Assistant app, which can be launched from the second page of your Home screen. When you come across an issue that needs addressing, send your feedback to Apple with Feedback Assistant.