Like Hajimete No Gyaru? The Manga, not the Anime... For heartwarming, nothing can beat Ah! My Goddess, 5-part OVA series. Although "The Results From When I Time Leaped To My Second Year Of High School And Confessed To The Teacher I Liked At The Time" comes close. There's also Yankee JK Kuzuhana-chan, but not sure if that counts?
I LOVED THAT ONE! Sadly, doesn't seem to be any more updates, for awhile. And the android maid seems more a mother figure than a waifu. She feels she's dragging him down, so she tries to minimize his presence.
I'm the Overlord of the Intergalactic empire, it's a good read, the MC is trying so hard to become space Lelouch while most of his subordinate revered him as Saint. Good level of misunderstanding I suppose, that, and of course, my bias for Robot android waifu maid.
I don't know if there's a manga of it, but WN version is in novelupdates