Is Seikai no Danshou: Tanjou hentai?
English title: Crest of the Stars: Birth
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.
TV Special · 2000 · 1 episodes · PG-13 - Teens 13 or older
Military, Romance, Sci-Fi, Space
This is the story about how Dubus, Lafiel's father, and Plakia after an adventure on a mysterious, abandoned spaceship decided to have a daughter together and why Dubus gave her the name Lafiel. (Source: ANN)
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