 If you liked
Shinpi no Sekai El-Hazard (TV)
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 ...then you might like
Musekinin Kanchou Tylor
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When i first started watching El Hazard The Wanderers, it reminded me so much of Irresponsible Captain Tylor.
They are both from before 2000 & the art design is very similar.
Two factions (one side humen looking-the other aliens) fight a war against each other.
Of course theres a princess too and romantic going on between main character and her.