If you haven’t seen “Standing In The Shadows Of Motown” I recommend you do.
Here are 2 links to Joan Osborne performing a couple of classics from the documentary, unfortunately embedding was disabled but they are well worth a listen.
The Funk Brothers & Joan Osborne – What Becomes Of The Broken Hearted
The Funk Brothers & Joan Osborne – Love Is Like A Heat Wave
Not from the doc, but not bad either.