Entering the murky realm of apostrophe conundrums. This apostrophe placement would seem to be in error, in that, as written, it would be a singular possessive (Mr. Simpson/Mr. Simpson’s donut habit), whereas the show is about “the Simpsons.” Names that end in “s” are apostrophe hell anyway (as my trusty copy of The Copyeditor’s Handbook notes, “The formation of the possessive for proper nouns that end in s or z is fraught with peril.”), but here we have another level of complexity: The Simpsons as the title of the show is singular. (You would say, for example, “The character of Amy Farrah Fowler was introduced in The Big Bang Theory‘s third season.”) I’d vote for “One of the Simpsons’s opening couch scenes includes an Escher gag.”
Actually, I’d vote for: rewrite! Beware the tricky apostrophe played out public.
“One of the opening couch scenes from The Simpsons includes an Escher gag.”