Is Senki Zesshou Symphogear G: Senki Zesshou Shinai Symphogear hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

Special · 2014 · 2 episodes · PG-13 - Teens 13 or older
Comedy, Idols (Female)
Original short episodes featuring characters in super-deformed style.
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