The title asks:
Can Category theory be founded in set theory using worldly cardinals instead of inaccessibles?
The first line in the main body of the question is:
What is exactly demanded for a set theoretic foundation of Category theory?
These are two different questions. As I mentioned in a comment, for the latter question, I find Mike Shulman's article Set theory for category theory highly illuminating. In this answer, let me focus on Muller's paper.
Muller has some idiosyncratic philosophical concerns. He is deeply troubled by strong existence axioms.
The gigantic universe that
Feferman creates with ZFCS, that Mac Lane creates with ZFCU, we created with CVN+
and Grothendieck with ZFCω, is so ridiculously large in comparison to what we actually
need to found category-theory, that is unbelievable it has even been considered seriously.
He is under the impression (incorrect IMO) that the motivation for these existence axioms is the belief that they are necessary.
If these proposals are so exessively comprehensive as this author says they are, then
why have they been seriously considered in the first place? The answer is simple: because
it is generally held that if you want to found category-theory on a set-theory of sorts, then
there is no other way but to throw in inaccessibles.
Muller also has what I consider to be an idiosyncratic view of what practicing category theorists need/want.
If the category-theoretician now suddenly wants to have some category of all classes
($\ne \boldsymbol{Cls}$), in the sense of ARC, then we have to kiss her goodbye, for there is no such
thing available in ARC. There is however no reason to desire this, because $\boldsymbol{Set}$ and $\boldsymbol{Cls}$
are available as the categories with ‘the least structured objects’, i.e. plain sets or classes
of sets as objects and plain functions as arrows.
If you share Muller's beliefs on all three counts, then you might find Muller's proposed solution congenial. However, I would challenge all three assumptions. First of all, inaccessibles or universes are invoked by practitioners primarily for convenience, not because they are believed to be indispensable. When practitioners sense set-theoretic paradoxes crouching at the door, they usually want the simplest possible amulet to ward them off, so that they can go back to thinking about what they really want to think about. Also, especially when it comes to higher category theory, they are often tempted by the thing that prompts Muller to kiss them goodbye—they've set up some framework with (say) two "levels" and they want to be able to invoke all the usual machinery to create a third "level," without having to revise everything they've previously written. Finally, if conservativity over ZFC is the issue, then Feferman's approach has already delivered that; the apparent "superabundancy" can be treated as merely une façon de parler.
To sum up, I would guess that there is nothing seriously wrong with Muller's proposal, but practitioners might find it less convenient than Grothendieck universes, and it's not clear what is really gained. For example, it has long been known that in any particular context where you really want to eliminate the use of universes, then there is no serious obstacle to doing so.