Is Tanken Driland hentai?
No
Rated PG (Children) on MyAnimeList and not tagged as Hentai.

TV · 2012 · 37 episodes · PG - Children
Adventure, Fantasy
Due to the influence of someone who visited her town when she was a child, Princess Mikoto of Elua decides to become a hunter and search for treasure all over the land of Driland. She sets out on her journey with her personal assistant Wallens, but they are soon joined by Pollon, a hunter who dreams of being a hero, and Paan, a wandering knight. As they continue their exploration they begin to sense great danger drawing near.
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