Is Lupin III: Moeyo Zantetsuken! hentai?
English title: Lupin III: Dragon of Doom
No
Rated R+ (Mild Nudity) on MyAnimeList and not tagged as Hentai.

TV Special · 1994 · 1 episodes · R+ - Mild Nudity
Action, Adult Cast, Adventure, Comedy, Mystery, Seinen
A Hong Kong crime boss contracts Lupin, Fujiko and Jigen to recover a legendary dragon statue that sunk with the Titanic. Unfortunately for them, the dragon is a treasure of Goemon's clan, said to have power exceeding that of his Zantetsuken sword; he resolves to protect the statue at all costs, even if it means killing his old friends. (Source: ANN)
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