Today, Apple released the sixth developer betas of iOS 13, iPadOS 13, watchOS 6, and tvOS 13. The new builds replace the ones that were released just nine days ago, so Apple is starting to ramp up its release cadence.
Typically, Apple betas show up every two weeks in the beginning of the cycle. As we get closer and closer to the public release, they'll be more frequent. When the new iPhones get announced in the second week of September, the GM seeds will be released, followed by general availability a little over a week later.
There are still some known issues shown in the release notes, although there really isn't anything deal-breaking anymore. For example, there are some issues with iCloud, such as Settiings -> General -> iPhone Storage misrepresenting the state of the files stored locally. Messages in iCloud has been fixed, so you'll no longer see a prompt to repair your account.
If you're on the beta now, these updates are rolling out and you can get them in the same way that you'd get any OTA update. If you're on the public beta, the iOS, iPadOS, and tvOS updates should be rolling out to you either later today or tomorrow.