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Older military guide close to his discharge from military was given new and extra powerful s++ esper to teach and guide.
They bittered but also got along quite well, but all their guiding consisted of casual touch, nothing sexual.
Unfortunately, during one of the missions guide died due to esper going into rampage.
But instead of dying dying guide finds himself waking up in a hospital, but quite soon realises that he's in a new body (who coincidentally shares his previous body's name) and 5 years after his death. His esper partner basically starving of guiding cause apparently he has "imprinted" him and now that he was dead he couldn't get good guiding
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Approximal Guide