Is Tengen Toppa Gurren Lagann: Mitee Mono wa Miteen da!! hentai?
English title: Gurren Lagann: There are Some Things I Just Have to See!!
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

Special · 2008 · 1 episodes · PG-13 - Teens 13 or older
Adventure, Comedy, Mecha, Sci-Fi
An uncut version of episode six, involving Kamina's hopes of seeing Yoko and The Black Siblings naked, even at the risk of his friends' safety. (Source: Wikipedia)
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