To opt for a pop-up caller ID you will have to set your native phone app as your default and then you can select the pop-up caller ID option from your Truecaller app.
Can I disable it for Android 12 and below?
This feature can, of course, be switched on and off anytime from Truecaller's settings ->Calls
Can I disable it for Android 13 and above?
Set your phone as default dialer to use the Classic Pop-up Caller ID.