 If you liked
Mahou Shoujo Pretty Sammy
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 ...then you might like
Lingerie Senshi Papillon Rose
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While 'Magical Girl Pretty Sammy' isn't an ecchi and Papillon Rose just isn't good, they're still both OVA parodies of the magical girl genre, whether they fail at being a parody or not is up to you
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Recommended by May_chan567