Is Listeners hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

TV · 2020 · 12 episodes · PG-13 - Teens 13 or older
Mecha, Music, Sci-Fi
Set in a world where the concept of music ceases to exist. The story begins when a boy encounters Myuu, a mysterious girl who possesses an audio input jack in her body. The two intermingle with the history of rock music and embark on an unforgettable journey. (Source: MAL News)
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