Tinsley left the group in 2018. A sexual harassment lawsuit was filed against him that year and settled the next year

"I just have to say now that it is such an honor to share the stage with these guys night after night," singer says of band mates

This year's Rock & Roll Hall of Fame ceremony in Downtown Cleveland was nothing short of legendary, with some of the biggest names in rock, pop, funk, R&B, and hip-hop all coming together