On Thursday, Apple made iOS 9.3.2 available to all public beta testers, meaning that you no longer have to be a developer to install the latest beta firmware. Just to note, while being on the most recent firmware is often recommended, beta firmwares are usually a bit unstable until later iterations, or even the final build.
Non-developers wanting to try out iOS 9.3.2 beta 1 can head on over to Apple's Beta Software Program to login or sign up for free.
