Microsoft added text to the October 2023 Product Terms confirming that if a customer has enabled Extended Security Updates through Azure Arc they may use the updates on licensed Disaster Recovery servers and in Dev/Test environments.
Find the terms here: https://bit.ly/3Y6xsac, and note that the same rules apply for the traditional 1-year ESUs, the terms of which are here: https://bit.ly/46ldV8W.