You can try using IPSW, but I have found that not to work. What I would strongly recommend is saving a backup of your iPhone to your computer before proceeding. Creating a backup should allow you to roll back to iOS 15. I had to do this to my iPad running iPadOS 16 Public Beta 1, and it was extremely hard to get off. I had to use my old iPad running iPadOS 14, and use that as a backup source. So unless you can guarantee you will like the upgrade, do not upgrade.
However, I have used iOS 16 on my phone for months now, ever since the first public beta was released, and never once have regretted installing it.
Treat it like it is not reversible, because it almost certainly will not be reversible.