Is The King of Fighters: Destiny hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

ONA · 2017 · 24 episodes · PG-13 - Teens 13 or older
Action, Adventure, Drama, Martial Arts, Romance
CG anime adaptation of The King of Fighters fighting game franchise.
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