Is Gate Season 2: Jieitai Kanoumi nite, Kaku Tatakaeri hentai?
English title: Gate 2: Tides of Conflict
No
Rated R (17+ (violence & profanity)) on MyAnimeList and not tagged as Hentai.

TV · R - 17+ (violence & profanity)
Action, Adventure, Fantasy, Isekai, Military
Following the reopening of the mysterious 'Gate,' the Japanese Self-Defense Forces continue diplomatic and exploratory missions in the Special Region, a realm parallel to our world. When an American journalist is kidnapped in this region's troubled seas, an elite Japanese Maritime unit embarks on a high-stakes rescue mission. This new chapter of the acclaimed fantasy saga explores fresh adventures, diplomatic tensions, and thrilling action in a world beyond imagination. (Source: Oshi)
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