Open the terminal then run the following commands:

kali@kali:~$ sudo apt update
kali@kali:~$
kali@kali:~$ sudo apt install -y tor torbrowser-launcher
kali@kali:~$

As user run the following command:

kali@kali:~$ torbrowser-launcher

First time it will download and install Tor Browser including the signature verification.

Next time it will be used to update and launch Tor Browser.

• Debian Wiki: TorBrowser