Complex sentence: In January 2015, he made a guest appearance playing himself on "The Simpsons" in an episode titled "The Musk Who Fell to Earth"; the episode poked fun at many of the inventor's ideas.
Split into simpler sentences: In January 2015, he made a guest appearance playing himself on "The Simpsons" in an episode titled "The Musk Who Fell to Earth". The episode poked fun at many of the inventor's ideas.