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Philidor?

Edit: I am terribly sorry! I looked only at the last moves and did not notice the direction of the board.

It is draw, sure. Although Philidor is normally a horizontal defence on the 6th rank, when the pawn steps to the 6th rank the rook delivers perpetual check from behind.
Not strictly a Philidor position since the pawn has not crossed the mid-line, but it is heading that way.
However it was unphilidorized for a brief moment when you played 52 ..., Kh6.
At that moment, your king gets cut off and the game is rather heading to a Lucena that doesn't work for white since the short side defence will be available to black.

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