Update the agent
The agent updates itself automatically: it regularly checks with the platform whether a new version is available and installs it on its own. In most cases, you have nothing to do.
Force or re-deploy
If you need to go back to a specific version (rare case), simply redeploy the MSI with your usual method (manual, GPO or Intune): the new installation replaces the old one while keeping the device's identity.
Check the version
A device's agent version is visible on its page in the platform (the agent also appears in the device's software inventory).