Beginning with iOS 17, Apple no longer requires payment of the $99 developer fee to access developer beta software. This means anyone can use their Apple ID to give the developer beta a whirl. Beware that developer beta software can be buggy and may cause problems on your device. Make sure to use a spare device or be ready to experience unexpected behavior.
Most users should really wait until the public beta of iOS 17 is released in July. This version will be more stable and ready for a wider release, even though the official launch of iOS 17 won't come until September.