 If you liked
Yuusha ni Narenakatta Ore wa Shibushibu Shuushoku wo Ketsui Shimashita.
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 ...then you might like
Shinmai Maou no Testament
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100% the same, storywise, character wise, and amazingly ecchi. Heroes and demon lords, heroes who don't want to be heroes, demon lords who just want to live a normal life, fanservice and people who want to destroy this everyday life.
The main character for both shows is a former hero protecting the daughter of a fallen Demon Lord. Both shows have a decent amount nudity and action although Testament is a lot more serious compared to the comedic nature of Yuushibu.
Hero saves demon lords daughter
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Recommended by Violence_muse