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In Godot 3 you can set it in the import setting: Importing images — Godot Engine (3.6) documentation in English.
In 4 the texture filter is a property of CanvasItem: texture_filter.
You can set it in the inspector under Texture → Filter. You can set the default filter in the project settings in ‘Texture → Rendering’.
For pixel art you want to set it to Nearest.