How do I upgrade my firmware

You can update your firmware by reflashing the phone using Windows Device Recovery Tool from Microsoft.

Be warned, that it'll reset your OS version to whatever the official version is for that ROM, and you'll lose all the data on the device. Prepare a day to get back up to date and all your data restored.

Or, you can possibly drop out of the Insider Previews and wait for an OTA update if it ever comes. Your call.
 
Don't need to drop out, actually. That got fixed back in February (when the 950 and 950 XL constantly got firmware updates).
 

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