The firmware is currently available via Software Update and in the developer center as well. For the iPhone 5, the update is 214mb.
Last update brought back Voice Memos and support for the iPad
We will update you with any change we find, but if you see anything, please let us know in the comments below!
You can grab the update at the dev center here.
Update: The OTA update is safe for non-developers without a UDID using the 'update' trick.
Update 2: Here is our extensive list of all the changes we found in the latest beta.
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