Access to Inpatient Rehabilitation Therapy Act of 2023 This bill allows, for purposes of Medicare payment, an intensive rehabilitation therapy program to include other skilled therapeutic modalities besides physical therapy, occupational therapy, speech language pathology services, or orthotic and prosthetic services, as recommended by the treating physician after the patient is admitted. The bill applies after December 31, 2023, or the last day of the COVID-19 public health emergency, whichever is earlier. (The COVID-19 public health emergency ended May 11, 2023.)