Is Dr. Slump: Arale-chan hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

TV · 1981 · 243 episodes · PG-13 - Teens 13 or older
Comedy, Gag Humor, Sci-Fi, Shounen
Dr. Slump creates a little android girl, Arale, who is very strong, happy, and totally common senseless. They live in Penguin Village where the strangest things happen (e.g., the dawn is announced by a little pig wearing a basquee) (Source: ANN)
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