Is Crayon Shin-chan Movie 01: Action Kamen vs. Haigure Maou hentai?
No
Rated G (All Ages) on MyAnimeList and not tagged as Hentai.

Movie · 1993 · 1 episodes · G - All Ages
Action, Adventure, Comedy, Seinen
By finding a rare Action Kamen card, Shinnosuke Nohara and his family end up being chosen to go to a parallel world and help foil an alien invasion that is occurring over there. (Source: ANN)
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