Is Kiddy Grade: Truth Dawn hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

Movie · 2007 · 1 episodes · PG-13 - Teens 13 or older
Mecha, Sci-Fi, Space, Super Power
A is the retelling of the original anime's finale.
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