Is L/R: Licensed by Royal hentai?
English title: Licensed by Royalty
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

TV · 2003 · 12 episodes · PG-13 - Teens 13 or older
Action, Adventure, Detective, Mystery
Jack Hofner and Rowe Rikenbacker are Cloud 7's L/R. Their job is to protect the Royal family of Ishtar, their treasures, and their reputation. Jack & Rowe face one of the toughest missions of their career when they are assigned to protect Noelle, a candidate for the 15 Year Princesse contest. It starts out simple, but soon all of Cloud 7 are involved in a web of intrigue that includes bombings, corruption and murder. (Source: ANN)
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