the band jamiroquai has a lot of different genres but a lot of their songs have a trippy sound. i recommend the songs 'falling', 'alright' and 'butterfly'!
-"Move on up" by Curtis Mayfield is a phenomenal Soul song,
-"Walk on By" covered by Issac Hayes is transcendental cause it's this epic psychedelic orchestral emotional Soul ballad, the runtime may sway some peeps though cause it's 12 minutes long
while it's not old, i would recommend the album Leather Blvd. by B. Cool-Aid, it falls into a bit of alternative R&B, with elements of hip-hop. the entire record smoky and seductive. my personal favourite track<3