What a weird coincidence, was looking at some of the art pages from Eclair that's on MD and wondered how common it is to have two hair pins on your pocket...then this, so, kinda common then? https://mangadex.org/chapter/626300/5
This is Ando Hanaka fom Hanakaku: The Last Girl Standing . Fu-chan got her into sex in balloon chairs, but she had to convince Koharu it was a "sophisticated fighting training method." Now retitled Hanakaku: The Last Girl Coming.
Don't get me wrong - Hime LOVES Nozomi. in the actual manga and anime. Clearly. But I think this is either poking fun at the couple or making the opposite point from what it wanted to make. Imp on centaur action is prohibitively difficult.
I forgot to continue the series multiple times, so I ended up watching it only halfway through. Everything I read about the ending make me think that's for the best.