This thread may answer some of your questions. https://movies.stackexchange.com/questions/64046/are-the-pranks-in-the-tv-show-impractical-jokers-staged
My sister and family were recently on the Hawaii episode.
They watched the show regularly and knew exactly who they were. From watching the episode I could tell they were acting wierd because they knew they were on TV. But they simply watching as an audience, so it's not like they were really doing a fake prank.
While on vacation someone (producer) came to them during a luau and offered a free show nearby. Joe and murr put on a ridiculous cultural show.
Afterward they talked to them normally and joked around with the kids. They were asked to sign consent to be on the show and were given updates about when they could see the episode. No payment.
Do you genuinely enjoy what you're doing? Specifically, like what part of it do you like? The prank itself? The look on their faces?