 If you liked
Gate: Jieitai Kanochi nite, Kaku Tatakaeri
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 ...then you might like
Death March kara Hajimaru Isekai Kyousoukyoku
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this is similar to death march because it has to do with humans entering a non human/human world that otherwise was not known about with all that goes with it, magic, demons etc.
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Recommended by Kiirsekrosis