Chillin' in My 30s After Getting Fired From the Demon King's Army(2019)

Kaiko sareta Ankoku Heishi (30-dai) no Slow na Second Life

Dariel is a dark soldier in the Demon King’s army in his 30s and unable to use magic who was suddenly dismissed! Kicked out of his hometown, Dariel drifted into a human village where adventurer skills that aren’t bestowed onto demons bursted into bloom! “I’m…human…?” Then, a village girl launches a fierce attack to get her hands on and subdue him, a novice adventurer, who fell into her lap?! His second chance at life and he still can’t relax has just begun!

(Source: K Manga)