This definitely had a release! Only in Australia maybe?

So I remember watching this series, on a commercial tape in Australia, english dub - without the naughty bits, suggesting it was in fact the cut version (I just started watching a subbed Japanese version and there are many bits, like the phallic "weapons", that were very different to what I remember from the commercial tapes. The striptease sequence was there but it was heavily cut - you couldn't even tell they were stripping! I even have a pretty firm memory that the distributor was called "Kiseki Films" or something like that - and a little googling suggests they were actually illegally releasing the tapes - hence why it's hard to find info on the release I suspect.

https://manga.fandom.com/wiki/Kiseki_Films - they do not mention Tank Police here - but I'm pretty sure they were the ones that put it out.

Incidentally - those two videos here feel very spot on. Like - exactly the same dub, everything - there were only two tapes of the series on the shelf at the video store. And if that's right, then it checks out as the Japanese series is only 4 episodes, each a little over 30 minutes - which would add to a similar runtime to these youtube vids.

I'm going to ask around some Aussie anime groups to see if anyone else has a copy. I think despite the naughty nature of Kiseki that they were still pretty widespread in Australia.