Hi @Shubham Prajapati ,
please take a look here: Upgrade all public IP addresses attached to VMs in an Availability Set from Basic to Standard
That's a good description how to update the Public IP addresses of VMs in an Availability Set.
But there will be a short downtime:
I am not aware of a different way without any downtime.
(If the reply was helpful please don't forget to upvote and/or accept as answer, thank you)
Regards
Andreas Baumgarten