Is Ranma ½: DoCo Music Video hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

OVA · 1995 · 1 episodes · PG-13 - Teens 13 or older
Action, Comedy, Martial Arts, Music, Shounen
This was a collection of the opening and ending OAV themes performed by DoCo, the musical group made up of Ranma ½ cast members. Also included is an interview with the cast during their recording of the "Tunnel of Lost Love" OAV. The interviewed voice actors included: Kappei Yamaguchi, Megumi Hayashibara, Noriko Hidaka, Keniichi Ogata, Minami Takeyama, Kikuko Inoue, Ryunosuke Obayashi, Hiromi Tsuru, Rei Sakuma, Toshikiko Seki, Miyoko Asou, Koichi Yamadera, Hirotaka Suzuoki, Saeko Shimazu, and Shigeru Chiba. (Source: furinkan.com/ranma/anime/specials.html)
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