 If you liked
Overlord
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 ...then you might like
Yuusha ga Shinda!: Murabito no Ore ga Hotta Otoshiana ni Yuusha ga Ochita Kekka.
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Very similar in the fact that the Hero sets out to make the world a better place, going on adventures planning for the improvement of the human race.
Ecchi scenes, but very much about a hero who sets out to defeat/kill the demon lord, but ends up with some unexpected results in the end.
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Recommended by SasoriUzumaki
Both Mcs are undead and try to hide that and their real personality from those around them, while traveling in a fantasy world, which leads to many funny situations.
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Recommended by xShinigami3125