Urge is visible, we hear (6)

I believe the answer is:

incite

'urge' is the definition.
(thesaurus)

I don't understand the rest of the clue.

(Other definitions for incite that I've seen before include "Stir up (eg, violence)" , "Provoke, set off" , "Provoke to action" , "drive" , "Stir up (trouble)" .)

I've seen this clue in The Times.

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