Is Lupin III: Touhou Kenbunroku - Another Page hentai?
English title: Lupin III: The Secret Page of Marco Polo
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

TV Special · 2012 · 1 episodes · PG-13 - Teens 13 or older
Action, Adult Cast, Adventure, Comedy, Mystery, Seinen
Lupin has become a suspect in the murder of a professor named Theo Argent. The professor had just discovered the missing page of Marco Polo's Record of Observations of the East travel journal. As Lupin is being pursued by the police, he ends up getting unlikely help from the granddaughter of Theo Argent, Lisa. (Source: ANN)
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