Apple has released iOS 13.2 iPad OS 13.2, HomePod 13.2, and tvOS 13.2.
You can download iOS 13.2 and iPadOS 13.2 on your iPhone or iPad by going to Settings > General > Software Update. HomePod 13.2 should be automatically via the Home app on an iPhone. If it does, you can do it manually by tapping on the house icon at the top right of the screen, then scrolling to Software Update.
To download tvOS 13 on your Apple TV (if it doesn’t update automatically), launch the System menu via the set-top box and choose Software Update.