Is Druaga no Tou: The Aegis of Uruk - Jil no Bouken hentai?
English title: Tower of Druaga: The Aegis of Uruk - Jil's Adventure
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.
Special · 2008 · 1 episodes · PG-13 - Teens 13 or older
Adventure, Fantasy
This is a special "back-side" (ura) episode aired on GyaO simultaneously with original broadcast which features the background story from party's side instead of Jil's. (Source: AniDB)
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