Apple has released iOS and iPadOS 13 beta 5 to registered Developers. iOS 13 brings lots of changes including but not limited to a Find My a combined Find my iPhone and Find my Friends, Dark Mode, Memoji characters for iMessage for older devices, Voice control, Haptic Touch and much much more.
For registered developers, iOS 13 beta 5 and iPadOS 13 beta 5 are available to download and test, right now. Simply go to the Settings app –> General –> Software Update and following the onscreen instructions. OTA updates can be found here.