Is Macross Zero hentai?
No
Rated R+ (Mild Nudity) on MyAnimeList and not tagged as Hentai.

OVA · 2002 · 5 episodes · R+ - Mild Nudity
Adventure, Mecha, Military, Sci-Fi
Taking place one year before the Zentraedi arrive on Earth, Macross Zero chronicles the final days of the war between the U.N. Spacy and anti-U.N. factions. After being shot down by the anti-U.N.'s newest fighter plane, ace pilot Shin Kudo finds himself on the remote island of Mayan, where technology is almost non-existent. While Shin stays on the island to heal his wounds, the tranqulity of the island is shattered by a battle that involves the UN's newest fighter - the VF-0. (Source: ANN)
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