Covers:

1961:

Supremes [then still a quartet]

1964:

Brenda Holloway

1965:

Temptations

1967:

Brenda & The Tabulations

1970:

Jackson 5 [on debut album and B-side of I Want You Back; author Smokey Robinson admitted this was the definitive version]

1987:

Terence Trent D'Arby

1990:

En Vogue [vocal intro to US hit Hold On]

1992:

Blackeyed Susans

2009:

Shaheen Jafargholi [live during the Michael Jackson Memorial; 12 year old Britain's Got Talent finalist, due to sing in duet with his (late) idol during the (cancelled) O² concert series]

2017:

Kelis