Is Urusei Yatsura OVA hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

OVA · 1985 · 11 episodes · PG-13 - Teens 13 or older
Adventure, Comedy, Sci-Fi, Shounen
The adventures of Lum, Ataru, Ten, and all the gang from Tomobiki continue in an assortment of new – but no less weird – stories. Watch as Lum, Ataru, and Shinobu encounter a rabbit-clad youth, enter the Room of Destiny, and get a glimpse into their futures in "Inaba the Dreammaker," or see Ran's plans to use a sherbet cone-producing bird to open a sherbet shop one hot Tokyo summer go terribly awry in “Raging Sherbet.” Ataru has yet another bad experience with Lum's cooking in "I Howl at the Moon". (Source: ANN)
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