Is Makai Senki Disgaea: Welcome to Netherworld hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

Special · 2006 · 1 episodes · PG-13 - Teens 13 or older
Action, Comedy, Fantasy, Mythology
A unique trailer found on both the DVDs and on the Disgaea 2 game advertising the anime. The animation for it is completely new, none is recycled from the show itself. Does a decent job of introducing the major characters and general plot, with new battle scenes and an altered plot so as to not give everything away. There's even a boom in shot at one point!
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