with for example

# bridge vlan add dev ge0 vid 23
# bridge vlan add dev ge1 vid 23
# bridge vlan show
port              vlan-id  
node1             1 PVID Egress Untagged
                  23
node2             1 PVID Egress Untagged
node3             1 PVID Egress Untagged
node4             1 PVID Egress Untagged
ge0               1 PVID Egress Untagged
                  23
ge1               1 PVID Egress Untagged
                  23
br0               1 PVID Egress Untagged

you see I added VLAN ID 23 to

node1

and

ge1

and

ge0

. This is just the start as now the VLAN 23 is emitted and expected to received tagged on frames. If you want VLAN 23 to be untagged on the interface you need to remove the PVID 1 and add VLAN 23 as PVID Egress and Untagged. I added this code as

pre-up

or

up

sections in

/etc/network/interfaces

for the needed interfaces. (Also the remove code for interface down (important for reconfiguration, if you change something in the config

ifdown -a; ifup -a

). More example with a bit different context (virtualisation) you can eg. find here, https://developers.redhat.com/blog/2017/09/14/vlan-filter-support-on-bridge#with_vlan_filtering