Is Kimi ga Nozomu Eien: Ayu Mayu Gekijou hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

ONA · 2006 · 7 episodes · PG-13 - Teens 13 or older
Comedy
A spin-off show from Kimi ga Nozomu Eien. It's about the daily adventures of Ayu and Mayu, the two waitresses from Sky Temple. (Source: AniDB)
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