Download The PetaLinux 2023.1 Installer From Below link:
https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/embedded-design-tools.html

Install The Downloaded PetaLinux Tool:
$ ./petalinux-v2023.1-05012318-installer.run -d <PLNX_INSTALL_DIR>

Source The Installed PetaLinux Tool:
$ source <PLNX_INSTALL_DIR>/settings.sh

Upgrade The Installed PetaLinux Petalinux Tool With New eSDK:
From Network::
$ petalinux-upgrade -u http://petalinux.xilinx.com/sswreleases/rel-v2023/sdkupdate/2023.1_update1/ -p "aarch64" --wget-args "--wait 1 -nH --cut-dirs=4"

From Local::
$ petalinux-upgrade -f <Local eSDK Directory Path> -p "aarch64"

On Successful Upgrade You will See The Below Console Logs.
INFO: Upgrading ..
INFO: Start updating aarch64 esdk
INFO: Updating aarch64 esdk succeeded