On my M1 Mac mini running Ventura 13.5, when I go to System Settings > General > Software Update, I see an item called “Beta updates” with an “info” icon (circled letter i). Clicking that icon opens a dialog containing a popup menu labeled “Beta Updates”; the default item is “Off”, but when I click it I see choices for public and developer betas for both Ventura and Sonoma.
Below that popup menu, the dialog displays the Apple ID that I am currently logged into, and a link labeled “Use a different Apple ID for beta updates...”. You may have to log in to an Apple ID associated with a developer account in order to see the developer betas.