Is Afro Samurai Pilot hentai?
No
Rated R+ (Mild Nudity) on MyAnimeList and not tagged as Hentai.

Special · 2003 · 1 episodes · R+ - Mild Nudity
Action, Martial Arts, Samurai
Original pilot for the "Afro Samurai" TV Show, directed and animated by Takeshi Koike.
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