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

TV · 1985 · 24 episodes · R+ - Mild Nudity
Adventure, Comedy, Sci-Fi
If you're in a big trouble, call the World Welfare Work Association or WWWA. They will send out a team of highly trained capable agents called Trouble Consultants who can solve your problems. But if the team they send you is the Dirty Pair, there will be a lot of collateral damage aside from solving your problems. (Source: AniDB)
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