Is Initial D Battle Stage hentai?
No
Rated G (All Ages) on MyAnimeList and not tagged as Hentai.

OVA · 2002 · 1 episodes · G - All Ages
Action, Drama, Racing, Seinen
There are many street races in the Initial D Series. This OVA has no plot other than to collect all the street races into one stage. The dialog during the original races is left in.
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