In a recent blog post, animator Maplestar confirmed that he is working on an R-rated animation of The Rising of the Shield Hero (Tate no Yūsha no Nariagari) with Raphtalia.
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In the blog he reveals that the new animation for The Rising of the Shield Hero (Tate no Yūsha no Nariagari) will be ready in October 2024:

The Shield Hero animation will be the first to be released, but I don't expect it to be completely finished until next month. Most of the animation and art will be fully colored by the end of the month, but I still need to finalize the voices, music, and composition, which will likely be completed by the end of October. I hope you're looking forward to the previews! I hope all is well! Let me know what you think in the comments!
About Maplestar:
Therefore, the talented animator has been winning fans around the world with his animations aimed at a more mature audience. With a portfolio full of memorable characters, such as the enigmatic Makima from Chainsaw Man, the cunning Yor Forger from SPY x FAMILY, and the charming Marin Kitagawa from Sono Bisque Doll wa Koi wo Suru, Maplestar has solidified his place as a prominent artist in the contemporary animation scene.
Although some question his choice to dedicate himself to producing animations in this style, the success he has achieved in this niche is undeniable.
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Source: Blog