To my knowledge, Trump has not directly incited his voters to commit a criminal act.
His language hasn't actually crossed that line.
However, he has directly told them to be peaceful and not harm his opposition, likely to avoid these types of accusations.
And proving the actual intent behind the words in question will be his word vs the prosecution.
That leaves room for him to wiggle with.
Trump has shown at least some awareness to not totally incriminate himself on this.
They'll need to provide something tangible to convict him of inciting the insurrection.
Objectively speaking, he might be able to beat an incitement charge at least.
And if they railroad him with some bullshit, that leaves a crack in the door for him, or them, to fight later.
But I'm not a lawyer so we'll see.