Is Rokka no Yuusha Picture Drama hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

Special · 2015 · 3 episodes · PG-13 - Teens 13 or older
Action, Adventure, Fantasy, Mystery
Picture dramas bundled with the Blu-ray and DVD volumes.
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