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

TV · 1996 · 25 episodes · PG-13 - Teens 13 or older
Adventure, Mecha, Sci-Fi, Shounen
Teppei is going to visit his older brother Kotaro Takamiya during a scientific conference after training with a mysterious woman named Karen for the past 11 years. However his plans for a family reunion become stalled when a woman named Aramis kills everyone in the conference to kidnap Kotaro. Teppei on the way to save his brother encounters a broken mechanical horse called B't X who revives thanks to Teppei's blood and is now his aide to save his brother from the mysterious Machine Empire.
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