How do you roll over a tube edge?

Adam, this may sound like a completely moronic question, but I have to ask because I simply dont know. Can a tube bender/expander machine be used to make a somewhat of a rolled tip? The flex joints on my car’s exhaust are not flex pipe, they are ball and socket type. Would it be possible to use the piece of titanium pipe in the same machine to kinda push the edges of the pipe inward and round them off same as you would making the ball and socket type flex joint? Does titanium work require it to be under certain conditions? Such as heating it prior, or cooling it prior, or using some kind of special lubricant? Is it more or less malliable than say steel you use on exhaust piping and is more likely to deform/fold/crack/tear?