Is Joshiraku OVA hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

OVA · 2013 · 1 episodes · PG-13 - Teens 13 or older
Adult Cast, Comedy, Gag Humor, Parody, Performing Arts, Shounen
OVA episode bundled with fifth volume of manga.
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