Is Otaku no Video hentai?
No
Rated R+ (Mild Nudity) on MyAnimeList and not tagged as Hentai.

OVA · 1991 · 2 episodes · R+ - Mild Nudity
Comedy, Drama, Historical, Mecha, Otaku Culture, Sci-Fi
Somewhat based on the real story of how Gainax was founded, Otaku no Video addresses all aspects of an otaku lifestyle. Takeshi Kubo is a young man living an average life until he is dragged into a group of otaku. Slowly, he becomes more like them until he decides to abandon his former life to become king of otaku—the otaking! Mixed in are live-action interviews with real otaku, addressing every aspect of hardcore otaku life. Not only are anime and manga fans included, but also sci-fi fans, military fans, and other groups of Japanese geeks.
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