Yes, I guess this is RNB that has that same heritage as S.O.S Band, Janet Jackson, Alexander Charrelle, etc.
Actually Prince was a fan of KING, wasn't he?
I hear the same harmonies recurring in a lot of KING, Jazminne Sullivan, Teedra Moses music, though I can't name them cos I don't know music theory. And these are harmonies that remind me of SWV, Michael Jackson, disco, etc.
Whereas a lot of RNB now is more gloomy and often performed by people who can't really sing all that well.