Often interchangeable, but generally speaking, if the narrative wasn't particularly funny until the last line, that would be a qID while a lut tlhaQ is a narrative that's funny, at least sporadically, throughout.
Note that to play a practical joke on someone, to trick on someone, is not qID (the verb meaning "joke"). It's chem "prank." – (qepHom 2022, p. 17)

Unless one is playing word games, the verb qID doesn't take an object. It's normally used along with jatlh "say" as in: qID. jatlh: qoH SoH "He/she jokes. He/she says: 'You are a fool'" or the other way around: jatlh: qoH SoH. qID. "Du bist ein Narr.’ He/she is joking." Both of these could be translated something like "He/She jokes that you are a fool.” ‐ (qepHom 2019 S. 18)