Add a Miro board to your Typeset presentation by selecting the "Share" button in your Miro board. Then, on the line that says "Anyone with the link", select "Can view" from the drop-down menu. Then copy the generated link.
Once you have your shareable Miro link, go to your Typeset editor, start a new line, and create a Miro component by typing "/miro" and hit Enter. Then paste your Miro link after the prompt.
You should see a small Miro logo in the editor. Then, when in presentation mode, you'll see a "View the board" button on the slide containing your Miro board. Click this button and your Miro board will appear, allowing you to interact with the board as you need.