Oshikake Maou to Gouin Namahame Seikatsu

Summoned to another world in order to defeat the Demon Queen, the Hero completes his quest and is sent back to his home world. As he waits for his beloved Princess to summon him back again, he receives a knock at the door... from the Demon Queen herself!
(Source: Irodori Comics)
Note: A live-action AV adaptation (MIMK-207) was released on April 1st, 2025.