No, there's no Hiroshi endings as such, but there is a lot of Hiroshi content in the main game. Also, and this is important (!) the game isn't actually over until you've seen the harem ending! That's a totally different ending that requires the harem code, and the story doesn't make sense until you get there. And there's a heap of bonus content available after the harem ending, including quite a bit of Hiroshi stuff if that's your interest.
As for the series, there's not just Crisis and Legacy, there's actually four games:
Pervert Action: Crisis (the first)
Pervert Action: Future (second)
Pervert Action: Legacy (you're playing now, obviously)
Pervert Action: Timelapse (my current work in progress)
All should be available here on F95. They're all designed so you don't really need to see them in any particular order, though. Some things maybe make a little more sense if you've seen the other instalments, but it's not necessary.