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

TV · 1983 · 137 episodes · PG-13 - Teens 13 or older
Combat Sports, Comedy, Shounen, Sports
Kinnikuman is a superhero... a bad one. Then one day a person named Meat tells Kinnikuman that he is the prince of an alien planet. Kinnikuman must save the day numerous times fighting evil chiyojins and competing in tournaments to prove himself to his family and to gain respect and money.
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