here's an idea i've tried but i'm not sure if it's effective or not.

Is slightly embarrassing the girl for comedy a good technique? e.g. i was having dinner with a girl and she ordered some food and something was wrong with it, i can't remember exactly i think something was missing off the plate. Anyway we joked about it a little bit and then when the waiter came with the bill we paid and as he was leaving he apologized for the mistake. She politely said "no it was fine" and i jokinly said "yea, she annoyed by that". she laughed but i'm not sure if it's good for building rapport?

Horrible way of thinking. You won't make it far if you think of minor details like this.

I will say your attitude is good(that you joke and chill, it will make her and yourself comfy). But that's it. Don't overthink, you will mess it up.

i'm giving an example of publicly embarrassing and if it's effective.

I do it all the time.

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My in depth texting & dating guide.
There's no such thing as shit-tests.
How to keep a girl.

It all depends on how you say things.

I can say to someone "you're a fucking asshole" and have it either be an insult or a compliment. Or even just a joke.

It's the tone of your voice.

As someone said, you're thinking way too much

And as Majikal said, it doesn't matter what, rather how you say things. Books about body language can reassure you on this point if you need any... Reassuring.

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Uncertainty is the root of all progress and all growth.