Is Kamen no Maid Guy: Ano Natsu, Ichiban Yutaka na Chichi. hentai?
No
Rated R+ (Mild Nudity) on MyAnimeList and not tagged as Hentai.

OVA · 2008 · 1 episodes · R+ - Mild Nudity
Action, Comedy, Ecchi, Shounen
An unreleased episode containing scenes that could not be aired due to "ethical regulations."
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