Minikube is an executable, in this case you would need to re-install the minikube with the desired version. There is no command to upgrade the running Minikube.

You would need to:

sudo minikube delete             # remove your minikube cluster
sudo rm -rf ~/.minikube          # remove minikube

and reinstall it using Minikube documentation - Start, depends on what your requirements are (packaged used in docs should be always up to date and should cover all your requirements regarding available drivers).