 If you liked
Densetsu no Yuusha no Densetsu
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 ...then you might like
Gate: Jieitai Kanochi nite, Kaku Tatakaeri
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I liked them both. So maybe you'll like them both as well.
Unfortunately it's already been some time since I watched Desetsu Yuusha no Densetsu (DenYuuDen). As far is I remember it got some political stuff involved which also is the case in Gate (politics within the empire of the fantasys world and between Japan and that empire).
The male main characters were laid-back and cool guys. Ryner from DenYuuden often likes to take his afternoon nap even if there is other important stuff to do. Itami from Gate puts his hobbies (he is an Otaku) first.
They are still both responsible and to their job (they are
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Recommended by Luthandorius