I don't think you understand how copyright works.
I can absolutely, without shadow of a doubt assure you that - IF - this product was seen by Adult Swim and their lawyers, they would have send a cease and desist and thrown the law at the producer. It doesn't matter if this product sent ONE viewer or one hundred million viewers to the show - there is no way that they'd want to be seen permitting a pornographic game with incest and certainly an unlicensed product that they're not earning royalty from.
To suggest anything otherwise would be wishful thinking. Believe me, if
MGM/Paramount Universal Music sent a lawsuit after a woman who uploaded a video of her child to YouTube dancing while Prince was playing in the background, demanding millions in "compensation" I can assure you Adult Swim would 100% do the same.
Edit - the long and short of it is, copyright protections exist to not only protect the copyright holder - but also protect a brand from copycats etc. And often are, in the US especially - taken rather seriously when filed.
Second Edit - Corrected the complainant name. Apologies, I was pulling from memory. Here is a source for any interested -
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