As a guitarist, I think a better and easier way to learn something like this is to plug the guy's chord sheets into BIAB in a Motown style, using microchords on the funk guitars only to see how this type of groove is played.
You have to do it over and over to get it. It is tricky. To an extent, it has to be in your blood.
His descriptions of the voicings are helpful, but those added notes become second nature to soul players.
C/Bb with the Bb on the 6th of the high E is cool chord. From there to the Ebm6 is a classic move.