Is the remark a joke? Yes.
Is the joke tasteless? Yes.
Is she inciting violence? NO.
The proper complaint against Ms Brand (whom I, too, used to like) is that she does not accept "it was a joke" as a defence if she doesn't like the joke, or the person who made it, or the butt of the joke.
Last week's "Have I got News for You" saw the perpetuation of the BBC smear campaign against a genuine liberal, Carl Benjamin. We'd already seen the tribadic Victoria Derbyshire and Jess Phillips interview when the Sapphic acting duo both agreed that Benjamin's "joke" should prevent his ever being allowed to stand for public office. More Ms Phillips' sneers and misrepresentations followed on "This Week", and yet more on the previous "Have I got News for You" when we see Benjamin having acid, sorry milk-shake - joke, geddit it? - being thrown at him).
Any way, Ms Brand was a guest on the latest HIGNFY. The milk-shake clip was shown again initiating a venomous denunciation by Ms Brand of a man (of whom, I suspect, she knows nothing apart from what the BBC has told her) adding her own extra penn'orth of spite by asserting the Benjamin "had threatened to rape" Ms Phillips, whereas the point of the "joke" was his "promise not to rape" the Birmingham harpy.