 If you liked
Kenzen Robo Daimidaler
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 ...then you might like
Dokyuu Hentai HxEros
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Both have humans fighting against animal-like aliens (penguins in Kenzen Robo and insects in Dokyuu Hentai) trying to take "sex energy" from humans. Kenzen Robo uses mecha to fight the aliens, while Dokyuu Hentai uses super heroes.
But the most importantly even if you dislike mecha/super heroes (like me), both anime have plenty of ecchi moments and female nudity for you to enjoy :)
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Recommended by BerrakBurcu
Tongue-in-cheek parodies about weaponizing sexual energy that either have too much self-awareness...or not enough.
Both have that Aliens invading earth thing and the very thing that can defeat them has to do with that so called "Ero energy" thing.....
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Recommended by JiangHaoyi1979