You can install readxl from CRAN via the standard install.packages() method. If you are using the tidyverse suite, you can install the entire collection, but note that readxl must still be loaded explicitly using library(readxl) as it is not part of the core tidyverse package loaded by library(tidyverse).
To install the development version from GitHub, use the pak package.
# Install from CRAN
install.packages("readxl")
# Or install the whole tidyverse
install.packages("tidyverse")
# Install development version from GitHub
# install.packages("pak")
pak::pak("tidyverse/readxl")