There were stricter rules placed on what material could be published or aired I believe. I don't know what the rules were, so I don't know whether something like that would be able to air now. Frankly, that series shouldn't have been tv though, with it being that explicit. KissXSis is a little explicit at times, but it doesn't have that much except in the OVAs.
For borderline hentai on OVA, you could do Aki-Sora, Canvas~Motif of Sepia~, Fencer of Minerva, or I believe Kakyuusei(the original).
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