Is UFO Princess Valkyrie 4: Toki to Yume to Ginga no Utage hentai?
English title: UFO Ultramaiden Valkyrie 4: Banquet of Time, Dreams, and Galaxies
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

OVA · 2006 · 2 episodes · PG-13 - Teens 13 or older
Comedy, Romance, Sci-Fi, Shounen
The strange and magical events of the last season have left Kazuto with two Valkyries. He now finds himself living with and looking after both a teenaged-princess Valkyrie, as well as the child-princess Valkyrie! And they still have not yet gotten married... (Source: AniDB)
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