But I see no URP-VR template when creating a new project from Unity 2019.3.0f3, nor know of any way to change an existing project from one to the other.
Meanwhile there is a VR-starter available (Unity version 2022.3.16f1 - LTS) - at least for Windows. When you create a new project from the “Unity Hub” (i.e. from the central tool) you may select “VR Core”. This sets up a sample scene with some objects and all the necessary settings needed to connect a VR headset. You can directly “play” in that sample scene and you may use this scene (or at least the settings) as starting point for your project.
“VR Core” is based on the URP Render Pipeline.