Is Tiger & Bunny Pilot hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

Special · 2011 · 1 episodes · PG-13 - Teens 13 or older
Action, Comedy, Super Power
The pilot episode for Tiger & Bunny released on the first DVD & BD volume.
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